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FW pos control: Rename _ground_alt to _takeoff_ground_alt to make it less ambigious with the actual terrain altitude

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Lorenz Meier
2015-06-23 12:57:39 +02:00
committed by tumbili
parent f4845b2b8f
commit f680bbed54
1 changed files with 6 additions and 6 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -6
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@@ -175,10 +175,10 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _loop_perf; /**< loop performance counter */
float _hold_alt; /**< hold altitude for altitude mode */ float _hold_alt; /**< hold altitude for altitude mode */
float _ground_alt; /**< ground altitude at which plane was launched */ float _takeoff_ground_alt; /**< ground altitude at which plane was launched */
float _hdg_hold_yaw; /**< hold heading for velocity mode */ float _hdg_hold_yaw; /**< hold heading for velocity mode */
bool _hdg_hold_enabled; /**< heading hold enabled */ bool _hdg_hold_enabled; /**< heading hold enabled */
bool _yaw_lock_engaged; /**< yaw is locked for heading hold */ bool _yaw_lock_engaged; /**< yaw is locked for heading hold */
struct position_setpoint_s _hdg_hold_prev_wp; /**< position where heading hold started */ struct position_setpoint_s _hdg_hold_prev_wp; /**< position where heading hold started */
struct position_setpoint_s _hdg_hold_curr_wp; /**< position to which heading hold flies */ struct position_setpoint_s _hdg_hold_curr_wp; /**< position to which heading hold flies */
hrt_abstime _control_position_last_called; /**<last call of control_position */ hrt_abstime _control_position_last_called; /**<last call of control_position */
@@ -504,7 +504,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
_hold_alt(0.0f), _hold_alt(0.0f),
_ground_alt(0.0f), _takeoff_ground_alt(0.0f),
_hdg_hold_yaw(0.0f), _hdg_hold_yaw(0.0f),
_hdg_hold_enabled(false), _hdg_hold_enabled(false),
_yaw_lock_engaged(false), _yaw_lock_engaged(false),
@@ -1015,7 +1015,7 @@ bool FixedwingPositionControl::in_takeoff_situation() {
const hrt_abstime delta_takeoff = 10000000; const hrt_abstime delta_takeoff = 10000000;
const float throttle_threshold = 0.1f; const float throttle_threshold = 0.1f;
if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff && _manual.z > throttle_threshold && _global_pos.alt <= _ground_alt + _parameters.climbout_diff) { if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff && _manual.z > throttle_threshold && _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff) {
return true; return true;
} }
@@ -1026,7 +1026,7 @@ void FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitc
{ {
/* demand "climbout_diff" m above ground if user switched into this mode during takeoff */ /* demand "climbout_diff" m above ground if user switched into this mode during takeoff */
if (in_takeoff_situation()) { if (in_takeoff_situation()) {
*hold_altitude = _ground_alt + _parameters.climbout_diff; *hold_altitude = _takeoff_ground_alt + _parameters.climbout_diff;
*pitch_limit_min = math::radians(10.0f); *pitch_limit_min = math::radians(10.0f);
} else { } else {
*pitch_limit_min = _parameters.pitch_limit_min; *pitch_limit_min = _parameters.pitch_limit_min;
@@ -1068,7 +1068,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (!_was_in_air && !_vehicle_status.condition_landed) { if (!_was_in_air && !_vehicle_status.condition_landed) {
_was_in_air = true; _was_in_air = true;
_time_went_in_air = hrt_absolute_time(); _time_went_in_air = hrt_absolute_time();
_ground_alt = _global_pos.alt; _takeoff_ground_alt = _global_pos.alt;
} }
/* reset flag when airplane landed */ /* reset flag when airplane landed */
if (_vehicle_status.condition_landed) { if (_vehicle_status.condition_landed) {