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| author | TickTock- <lukecell@safe-mail.net> | 2014-04-27 14:06:00 -0700 |
|---|---|---|
| committer | TickTock- <lukecell@safe-mail.net> | 2014-04-27 14:06:00 -0700 |
| commit | 269800b48c31d78fec900b4beaf3f655a8c18730 (patch) | |
| tree | 02d5e68319c9b4cce0ca3a169d9c2a32d5d0844e /src/modules/fw_pos_control_l1 | |
| parent | 6a7b104c2baad7527d35736979ddd1352bf4119d (diff) | |
| download | px4-firmware-269800b48c31d78fec900b4beaf3f655a8c18730.tar.gz px4-firmware-269800b48c31d78fec900b4beaf3f655a8c18730.tar.bz2 px4-firmware-269800b48c31d78fec900b4beaf3f655a8c18730.zip | |
renamed EASY to POSHOLD and SEATBELT to ALTHOLD
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 42 |
1 files changed, 21 insertions, 21 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..d5a68e21f 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 @@ -153,7 +153,7 @@ private: 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 */ + float _althold_hold_heading; /**< heading the system should hold in althold mode */ double _loiter_hold_lat; double _loiter_hold_lon; float _loiter_hold_alt; @@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_reset_integral = true; } - } else if (0/* easy mode enabled */) { + } else if (0/* poshold mode enabled */) { - /** EASY FLIGHT **/ + /** POSHOLD FLIGHT **/ - if (0/* switched from another mode to easy */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to poshold */) { + _althold_hold_heading = _att.yaw; } - if (0/* easy on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* poshold on and manual control yaw non-zero */) { + _althold_hold_heading = _att.yaw + _manual.yaw; } //XXX not used @@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // climb_out = true; // } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in althold mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float althold_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + althold_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, false, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.pitch_limit_min, _parameters.pitch_limit_max); - } else if (0/* seatbelt mode enabled */) { + } else if (0/* althold mode enabled */) { - /** SEATBELT FLIGHT **/ + /** ALTHOLD FLIGHT **/ - if (0/* switched from another mode to seatbelt */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to althold */) { + _althold_hold_heading = _att.yaw; } - if (0/* seatbelt on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* althold on and manual control yaw non-zero */) { + _althold_hold_heading = _att.yaw + _manual.yaw; } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in althold mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float althold_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; @@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi climb_out = true; } - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + althold_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, climb_out, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, |