diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 18 |
1 files changed, 9 insertions, 9 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 74249c9c5..0bdc285e7 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 @@ -816,7 +816,7 @@ void FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet) { - if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { + if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER)) { /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); @@ -963,7 +963,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } - if (pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION) { + if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) { /* waypoint is a plain navigation waypoint */ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); @@ -974,7 +974,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); - } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { + } else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { /* waypoint is a loiter waypoint */ _l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius, @@ -987,7 +987,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); - } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { + } else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); @@ -1140,7 +1140,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi ground_speed); } - } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { + } else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { /* Perform launch detection */ if (launchDetector.launchDetectionEnabled() && @@ -1235,12 +1235,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } /* reset landing state */ - if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) { + if (pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LAND) { reset_landing_state(); } /* reset takeoff/launch state */ - if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) { + if (pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { reset_takeoff_state(); } @@ -1327,7 +1327,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Set thrust to 0 to minimize damage */ _att_sp.thrust = 0.0f; } else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto - pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { /* making sure again that the correct thrust is used, * without depending on library calls for safety reasons */ @@ -1341,7 +1341,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* During a takeoff waypoint while waiting for launch the pitch sp is set * already (not by tecs) */ if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO && - pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && launch_detection_state == LAUNCHDETECTION_RES_NONE)) { _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); } |