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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 22:41:26 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 22:41:26 +0100 |
| commit | 1cffa9d2f77f788f8446e0aceec60b7676a0a65f (patch) | |
| tree | 6ed00299b9b3f2e096f13a4eb615ffd84e4c2564 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 6acb8fa66f38d20af57b8c45cc7878257abb24d2 (diff) | |
| download | px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.tar.gz px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.tar.bz2 px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.zip | |
position_setpoint_triplet refactoring finished
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index bc20a4f47..d3e39e3a0 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -65,7 +65,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> -#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <systemlib/param/param.h> #include <systemlib/err.h> @@ -117,7 +117,7 @@ private: int _manual_sub; /**< notification of manual control updates */ int _arming_sub; /**< arming status of outputs */ int _local_pos_sub; /**< vehicle local position */ - int _pos_sp_triplet_sub; /**< mission item triplet */ + int _pos_sp_triplet_sub; /**< position setpoint triplet */ orb_advert_t _local_pos_sp_pub; /**< local position setpoint publication */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ @@ -687,7 +687,7 @@ MulticopterPositionControl::task_main() if (!_control_mode.flag_control_manual_enabled) { /* use constant descend rate when landing, ignore altitude setpoint */ - if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) { + if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { _vel_sp(2) = _params.land_speed; } @@ -789,7 +789,7 @@ MulticopterPositionControl::task_main() float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2)); float tilt_max = _params.tilt_max; if (!_control_mode.flag_control_manual_enabled) { - if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) { + if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { /* limit max tilt and min lift when landing */ tilt_max = _params.land_tilt_max; if (thr_min < 0.0f) |