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Refactor: Name manual_control_setpoint the same way everywhere

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This commit is contained in:
Matthias Grob
2020-06-22 12:06:27 -04:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -3
View File
@@ -197,9 +197,9 @@ VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = false;
if (_manual_control_sp.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
if (_manual_control_setpoint.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
_v_control_mode.flag_control_manual_enabled) {
to_fw = (_manual_control_sp.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
to_fw = (_manual_control_setpoint.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
} else {
// listen to transition commands if not in manual or mode switch is not mapped
@@ -387,7 +387,7 @@ VtolAttitudeControl::Run()
}
_v_control_mode_sub.update(&_v_control_mode);
_manual_control_sp_sub.update(&_manual_control_sp);
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_v_att_sub.update(&_v_att);
_local_pos_sub.update(&_local_pos);
_local_pos_sp_sub.update(&_local_pos_sp);
src/modules/vtol_att_control/vtol_att_control_main.h
+2 -2
View File
@@ -138,7 +138,7 @@ private:
uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; // setpoint subscription
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; // sensor subscription
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; // local position setpoint subscription
@@ -165,7 +165,7 @@ private:
actuator_controls_s _actuators_out_1{}; //actuator controls going to the fw mixer (used for elevons)
airspeed_validated_s _airspeed_validated{}; // airspeed
manual_control_setpoint_s _manual_control_sp{}; //manual control setpoint
manual_control_setpoint_s _manual_control_setpoint{}; //manual control setpoint
position_setpoint_triplet_s _pos_sp_triplet{};
tecs_status_s _tecs_status{};
vehicle_attitude_s _v_att{}; //vehicle attitude