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Modify occurrences of control_mode to vehicle_control_mode in MulticopterPositionControl.cpp/hpp to reflect the existing naming convention in the files.

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mcsauder
2021-06-22 16:26:18 -06:00
committed by Daniel Agar
parent 1ee3484827
commit fef2c43395
2 changed files with 58 additions and 53 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+11 -9
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@@ -273,7 +273,7 @@ void MulticopterPositionControl::Run()
const bool was_in_failsafe = _in_failsafe;
_in_failsafe = false;
_control_mode_sub.update(&_control_mode);
_vehicle_control_mode_sub.update(&_vehicle_control_mode);
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
if (_param_mpc_use_hte.get()) {
@@ -288,7 +288,7 @@ void MulticopterPositionControl::Run()
PositionControlStates states{set_vehicle_states(local_pos)};
if (_control_mode.flag_multicopter_position_control_enabled) {
if (_vehicle_control_mode.flag_multicopter_position_control_enabled) {
_trajectory_setpoint_sub.update(&_setpoint);
@@ -326,9 +326,9 @@ void MulticopterPositionControl::Run()
_vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get();
}
if (_control_mode.flag_control_offboard_enabled) {
if (_vehicle_control_mode.flag_control_offboard_enabled) {
bool want_takeoff = _control_mode.flag_armed && _vehicle_land_detected.landed
bool want_takeoff = _vehicle_control_mode.flag_armed && _vehicle_land_detected.landed
&& hrt_elapsed_time(&_setpoint.timestamp) < 1_s;
if (want_takeoff && PX4_ISFINITE(_setpoint.z)
@@ -357,11 +357,12 @@ void MulticopterPositionControl::Run()
}
// handle smooth takeoff
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, _vehicle_constraints.want_takeoff,
_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed,
_vehicle_constraints.want_takeoff,
_vehicle_constraints.speed_up, false, time_stamp_now);
const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup);
const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);
const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup);
const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);
const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact);
// make sure takeoff ramp is not amended by acceleration feed-forward
@@ -456,7 +457,8 @@ void MulticopterPositionControl::Run()
} else {
// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true, time_stamp_now);
_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true,
time_stamp_now);
}
// Publish takeoff status
@@ -485,7 +487,7 @@ void MulticopterPositionControl::failsafe(const hrt_abstime &now, vehicle_local_
const PositionControlStates &states, bool warn)
{
// do not warn while we are disarmed, as we might not have valid setpoints yet
if (!_control_mode.flag_armed) {
if (!_vehicle_control_mode.flag_armed) {
warn = false;
}