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mc_att_control, mc_pos_control: update manual_control_setpoint usage

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This commit is contained in:
Anton Babushkin
2014-04-03 20:54:28 +04:00
parent 6f38ed3b4b
commit e2ac5222d8
5 changed files with 57 additions and 81 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -12
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@@ -148,9 +148,6 @@ private:
param_t tilt_max;
param_t land_speed;
param_t land_tilt_max;
param_t rc_scale_pitch;
param_t rc_scale_roll;
} _params_handles; /**< handles for interesting parameters */
struct {
@@ -160,9 +157,6 @@ private:
float land_speed;
float land_tilt_max;
float rc_scale_pitch;
float rc_scale_roll;
math::Vector<3> pos_p;
math::Vector<3> vel_p;
math::Vector<3> vel_i;
@@ -306,8 +300,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.tilt_max = param_find("MPC_TILT_MAX");
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.land_tilt_max = param_find("MPC_LAND_TILT");
_params_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
_params_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
/* fetch initial parameter values */
parameters_update(true);
@@ -354,8 +346,6 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.tilt_max, &_params.tilt_max);
param_get(_params_handles.land_speed, &_params.land_speed);
param_get(_params_handles.land_tilt_max, &_params.land_tilt_max);
param_get(_params_handles.rc_scale_pitch, &_params.rc_scale_pitch);
param_get(_params_handles.rc_scale_roll, &_params.rc_scale_roll);
float v;
param_get(_params_handles.xy_p, &v);
@@ -608,8 +598,8 @@ MulticopterPositionControl::task_main()
reset_lat_lon_sp();
/* move position setpoint with roll/pitch stick */
sp_move_rate(0) = scale_control(-_manual.pitch / _params.rc_scale_pitch, 1.0f, pos_ctl_dz);
sp_move_rate(1) = scale_control(_manual.roll / _params.rc_scale_roll, 1.0f, pos_ctl_dz);
sp_move_rate(0) = _manual.pitch;
sp_move_rate(1) = _manual.roll;
}
/* limit setpoint move rate */