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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-19 10:53:04 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-19 10:53:04 +0200 |
commit | 57794925fe0fcaf5736163f8ad43a4551a1a9b71 (patch) | |
tree | 8bd2f9da7a849ce9e31ef9716c1ea39fc41daa16 /src/modules/fw_pos_control_l1 | |
parent | a4e1a665833f566e2faaa80d221971c679b57d17 (diff) | |
download | px4-firmware-57794925fe0fcaf5736163f8ad43a4551a1a9b71.tar.gz px4-firmware-57794925fe0fcaf5736163f8ad43a4551a1a9b71.tar.bz2 px4-firmware-57794925fe0fcaf5736163f8ad43a4551a1a9b71.zip |
Revert "Remove MT_ENABLED param and handles"
This reverts commit 90a5ae1afd25e5e31d269f0d0f5e5052f068d0b1.
Diffstat (limited to 'src/modules/fw_pos_control_l1')
-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 | 2 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 11 |
3 files changed, 14 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 8f0e57e20..749f57a2b 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -49,6 +49,7 @@ namespace fwPosctrl { mTecs::mTecs() : SuperBlock(NULL, "MT"), /* Parameters */ + _mTecsEnabled(this, "ENABLED"), _airspeedMin(this, "FW_AIRSPD_MIN", false), /* Publications */ _status(&getPublications(), ORB_ID(tecs_status)), diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 99830fba6..ae6867d38 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -90,12 +90,14 @@ public: void resetDerivatives(float airspeed); /* Accessors */ + bool getEnabled() { return _mTecsEnabled.get() > 0; } float getThrottleSetpoint() { return _throttleSp; } float getPitchSetpoint() { return _pitchSp; } float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); } protected: /* parameters */ + control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ /* Publications */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 6e9e1d88e..4ca31fe20 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -47,6 +47,17 @@ */ /** + * mTECS enabled + * + * Set to 1 to enable mTECS + * + * @min 0 + * @max 1 + * @group mTECS + */ +PARAM_DEFINE_INT32(MT_ENABLED, 1); + +/** * Total Energy Rate Control Feedforward * Maps the total energy rate setpoint to the throttle setpoint * |