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| author | Julian Oes <julian@oes.ch> | 2014-06-27 13:07:20 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 13:07:20 +0200 |
| commit | 3aab37e0e04ce98ddacd99e238e626ab5c3d4445 (patch) | |
| tree | 2ccc3c387a4768eaa5f92fe41b0553ffe4567aa7 /src/modules | |
| parent | affc312411b7634fa13bab6da8889de90f964ce8 (diff) | |
| parent | 831a3d4ed14bc068ee086c5190af96ad809f67d7 (diff) | |
| download | px4-firmware-3aab37e0e04ce98ddacd99e238e626ab5c3d4445.tar.gz px4-firmware-3aab37e0e04ce98ddacd99e238e626ab5c3d4445.tar.bz2 px4-firmware-3aab37e0e04ce98ddacd99e238e626ab5c3d4445.zip | |
Merge remote-tracking branch 'px4/mtecs' into navigator_rewrite
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 11 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 2 |
2 files changed, 4 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 03353cbc1..48c9079a4 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -199,8 +199,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight } /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ - BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits - BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits + BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter(); + BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter(); if (mode == TECS_MODE_TAKEOFF) { outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch; @@ -218,12 +218,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight /* Apply overrride given by the limitOverride argument (this is used for limits which are not given by * parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector * is running) */ - bool limitApplied = limitOverride.applyOverride(outputLimiterThrottle == NULL ? - _controlTotalEnergy.getOutputLimiter() : - *outputLimiterThrottle, - outputLimiterPitch == NULL ? - _controlEnergyDistribution.getOutputLimiter() : - *outputLimiterPitch); + bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch); /* Write part of the status message */ _status.airspeedDerivativeSp = airspeedDerivativeSp; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c42ff0afe..5645ebcf1 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -431,7 +431,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), - LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"), + LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), /* system-level messages, ID >= 0x80 */ |