diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 10 |
1 files changed, 3 insertions, 7 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 e3b6eb261..7a4cb66c5 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 @@ -154,8 +154,6 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - /** manual control states */ float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */ double _loiter_hold_lat; @@ -426,7 +424,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), /* states */ - _setpoint_valid(false), _loiter_hold(false), land_noreturn_horizontal(false), land_noreturn_vertical(false), @@ -719,7 +716,6 @@ FixedwingPositionControl::vehicle_setpoint_poll() if (pos_sp_triplet_updated) { orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); - _setpoint_valid = true; } } @@ -764,7 +760,7 @@ 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 (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { + if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); @@ -855,7 +851,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // XXX this should only execute if auto AND safety off (actuators active), // else integrators should be constantly reset. - if (_control_mode.flag_control_position_enabled) { + if (pos_sp_triplet.current.valid) { if (!_was_pos_control_mode) { /* reset integrators */ @@ -896,7 +892,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } - if (pos_sp_triplet.current.type == SETPOINT_TYPE_NORMAL) { + if (pos_sp_triplet.current.type == 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(); |