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author | Julian Oes <julian@oes.ch> | 2014-04-21 17:36:59 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-04-21 17:36:59 +0200 |
commit | c3c0328e8bb9211580dbe5a52ecb23e0452cb402 (patch) | |
tree | 0c449cb2733f3c6cbfc5593e38929fea34152c11 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
parent | 488785250f4f1fa3c2f6d1e3283fd8eabb6b3144 (diff) | |
download | px4-firmware-c3c0328e8bb9211580dbe5a52ecb23e0452cb402.tar.gz px4-firmware-c3c0328e8bb9211580dbe5a52ecb23e0452cb402.tar.bz2 px4-firmware-c3c0328e8bb9211580dbe5a52ecb23e0452cb402.zip |
navigator: lot's of cleanup (WIP)
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 8 |
1 files changed, 2 insertions, 6 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7f13df785..a00a388a8 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -150,8 +150,6 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - /** manual control states */ float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */ double _loiter_hold_lat; @@ -393,7 +391,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), /* states */ - _setpoint_valid(false), _loiter_hold(false), land_noreturn_horizontal(false), land_noreturn_vertical(false), @@ -663,7 +660,6 @@ FixedwingPositionControl::vehicle_setpoint_poll() if (pos_sp_triplet_updated) { orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); - _setpoint_valid = true; } } @@ -708,7 +704,7 @@ void FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) { - if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { + if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); @@ -781,7 +777,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // XXX this should only execute if auto AND safety off (actuators active), // else integrators should be constantly reset. - if (_control_mode.flag_control_position_enabled) { + if (pos_sp_triplet.current.valid) { /* get circle mode */ bool was_circle_mode = _l1_control.circle_mode(); |