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FW Position controller: rename LAUN_ALL_ON to LAUN_DECTN_ON

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-09 16:05:00 +01:00
parent c8129fd902
commit e6e2c889e0
4 changed files with 19 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1530,7 +1530,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
} else {
/* Perform launch detection */
if (!_skipping_takeoff_detection && _param_laun_all_on.get() &&
if (!_skipping_takeoff_detection && _param_laun_detcn_on.get() &&
_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
if (_control_mode.flag_armed) {
@@ -1546,7 +1546,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_laun_all_on.get()) {
&& _param_laun_detcn_on.get()) {
_launch_detected = true;
_launch_global_position = global_position;
_takeoff_ground_alt = _current_altitude;
@@ -1567,7 +1567,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
/* Set control values depending on the detection state */
if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_laun_all_on.get()) {
&& _param_laun_detcn_on.get()) {
/* Launch has been detected, hence we have to control the plane. */
if (_param_fw_use_npfg.get()) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
View File
@@ -878,7 +878,7 @@ private:
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd,
(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp,
(ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on
(ParamBool<px4::params::LAUN_DETCN_ON>) _param_laun_detcn_on
)
};
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+6 -2
View File
@@ -1120,9 +1120,13 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
/**
* Launch detection
* FW Launch detection
*
* Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
* Only available for fixed-wing vehicles.
* Not compatible with runway takeoff.
*
* @boolean
* @group FW Launch detection
*/
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
PARAM_DEFINE_INT32(LAUN_DETCN_ON, 0);