fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 04:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: use new Param class

Browse Source
This commit is contained in:
Beat Küng
2018-03-13 17:35:15 +01:00
parent 32eaf278ad
commit f2dddc65a5
30 changed files with 172 additions and 207 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/precland.h
+15 -13
View File
@@ -41,10 +41,10 @@
#ifndef NAVIGATOR_PRECLAND_H
#define NAVIGATOR_PRECLAND_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/landing_target_pose.h>
#include <matrix/math.hpp>
#include <geo/geo.h>
#include <px4_module_params.h>
#include <uORB/topics/landing_target_pose.h>
#include "navigator_mode.h"
#include "mission_block.h"
@@ -64,10 +64,10 @@ enum class PrecLandMode {
Required = 2 // try to find landing target if not visible at the beginning
};
class PrecLand : public MissionBlock
class PrecLand : public MissionBlock, public ModuleParams
{
public:
PrecLand(Navigator *navigator, const char *name);
PrecLand(Navigator *navigator);
~PrecLand();
@@ -121,14 +121,16 @@ private:
PrecLandMode _mode;
control::BlockParamFloat _param_timeout;
control::BlockParamFloat _param_hacc_rad;
control::BlockParamFloat _param_final_approach_alt;
control::BlockParamFloat _param_search_alt;
control::BlockParamFloat _param_search_timeout;
control::BlockParamInt _param_max_searches;
control::BlockParamFloat _param_acceleration_hor;
control::BlockParamFloat _param_xy_vel_cruise;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,
(ParamFloat<px4::params::PLD_HACC_RAD>) _param_hacc_rad,
(ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_final_approach_alt,
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_search_alt,
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_search_timeout,
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_acceleration_hor,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_xy_vel_cruise
)
};