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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-30 19:36:06 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-30 19:36:06 +0200 |
| commit | 33356ed50386ceb086595e5bd13e42d8fd924add (patch) | |
| tree | 794684c1fd6d1ba67dbab9e87b0af41078ba129c /src/modules/fw_pos_control_l1/mtecs | |
| parent | eed1b685373ee8e81a182ade937e25f2f7b3a3fe (diff) | |
| download | px4-firmware-33356ed50386ceb086595e5bd13e42d8fd924add.tar.gz px4-firmware-33356ed50386ceb086595e5bd13e42d8fd924add.tar.bz2 px4-firmware-33356ed50386ceb086595e5bd13e42d8fd924add.zip | |
mtecs publish state
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 1 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 9 |
2 files changed, 1 insertions, 9 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index d370bf906..039fc34a8 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -224,6 +224,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight _status.totalEnergyRate = totalEnergyRate; _status.energyDistributionRateSp = energyDistributionRateSp; _status.energyDistributionRate = energyDistributionRate; + _status.mode = mode; /** update control blocks **/ /* update total energy rate control block */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 1a787df72..b7d4af0f9 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -60,15 +60,6 @@ public: mTecs(); virtual ~mTecs(); - typedef enum { - TECS_MODE_NORMAL, - TECS_MODE_UNDERSPEED, - TECS_MODE_TAKEOFF, - TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM - } tecs_mode; - - /* A small class which provides helper fucntions to override control output limits which are usually set by * parameters in special cases */ |