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| author | Julian Oes <julian@oes.ch> | 2013-11-20 12:46:25 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-20 12:46:25 +0100 |
| commit | a6c5a1920639f3ff1b2d1a0cea6eeacf6676fc76 (patch) | |
| tree | fee81d0851cd5ce46400c80115d892ed7ffc4f50 /src/modules/fixedwing_backside/fixedwing.cpp | |
| parent | a9e51105c81a4de0cf35a03af0be67fb49ba8870 (diff) | |
| download | px4-firmware-a6c5a1920639f3ff1b2d1a0cea6eeacf6676fc76.tar.gz px4-firmware-a6c5a1920639f3ff1b2d1a0cea6eeacf6676fc76.tar.bz2 px4-firmware-a6c5a1920639f3ff1b2d1a0cea6eeacf6676fc76.zip | |
Mission topic: Use mission topic instead of global position for triplet
Diffstat (limited to 'src/modules/fixedwing_backside/fixedwing.cpp')
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index 6dc19df41..108e9896d 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -117,7 +117,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _vCmd(this, "V_CMD"), _crMax(this, "CR_MAX"), _attPoll(), - _lastPosCmd(), + _lastMissionCmd(), _timeStamp(0) { _attPoll.fd = _att.getHandle(); @@ -141,8 +141,8 @@ void BlockMultiModeBacksideAutopilot::update() setDt(dt); // store old position command before update if new command sent - if (_posCmd.updated()) { - _lastPosCmd = _posCmd.getData(); + if (_missionCmd.updated()) { + _lastMissionCmd = _missionCmd.getData(); } // check for new updates @@ -159,7 +159,7 @@ void BlockMultiModeBacksideAutopilot::update() if (_status.main_state == MAIN_STATE_AUTO) { // TODO use vehicle_control_mode here? // update guidance - _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); + _guide.update(_pos, _att, _missionCmd.current, _lastMissionCmd.current); } // XXX handle STABILIZED (loiter on spot) as well @@ -182,7 +182,7 @@ void BlockMultiModeBacksideAutopilot::update() float vCmd = _vLimit.update(_vCmd.get()); // altitude hold - float dThrottle = _h2Thr.update(_posCmd.current.altitude - _pos.alt); + float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt); // heading hold float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); |