From 33356ed50386ceb086595e5bd13e42d8fd924add Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 30 May 2014 19:36:06 +0200 Subject: mtecs publish state --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 8 ++++---- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 1 + src/modules/fw_pos_control_l1/mtecs/mTecs.h | 9 --------- src/modules/uORB/topics/tecs_status.h | 10 ++++++++++ 4 files changed, 15 insertions(+), 13 deletions(-) (limited to 'src') 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 e43469b70..7fd7ed07f 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 @@ -386,7 +386,7 @@ private: bool climbout_mode, float climbout_pitch_min_rad, float altitude, const math::Vector<3> &ground_speed, - fwPosctrl::mTecs::tecs_mode mode = fwPosctrl::mTecs::TECS_MODE_NORMAL); + tecs_mode mode = TECS_MODE_NORMAL); }; @@ -1018,7 +1018,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi 0.0f, throttle_max, throttle_land, false, flare_pitch_angle_rad, _pos_sp_triplet.current.alt + relative_alt, ground_speed, - land_motor_lim ? fwPosctrl::mTecs::TECS_MODE_LAND_THROTTLELIM : fwPosctrl::mTecs::TECS_MODE_LAND); + land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -1111,7 +1111,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi math::radians(10.0f)), _global_pos.alt, ground_speed, - fwPosctrl::mTecs::TECS_MODE_TAKEOFF); + TECS_MODE_TAKEOFF); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); @@ -1449,7 +1449,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ bool climbout_mode, float climbout_pitch_min_rad, float altitude, const math::Vector<3> &ground_speed, - fwPosctrl::mTecs::tecs_mode mode) + tecs_mode mode) { if (_mTecs.getEnabled()) { /* Using mtecs library: prepare arguments for mtecs call */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index d370bf906..039fc34a8 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -224,6 +224,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight _status.totalEnergyRate = totalEnergyRate; _status.energyDistributionRateSp = energyDistributionRateSp; _status.energyDistributionRate = energyDistributionRate; + _status.mode = mode; /** update control blocks **/ /* update total energy rate control block */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 1a787df72..b7d4af0f9 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -60,15 +60,6 @@ public: mTecs(); virtual ~mTecs(); - typedef enum { - TECS_MODE_NORMAL, - TECS_MODE_UNDERSPEED, - TECS_MODE_TAKEOFF, - TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM - } tecs_mode; - - /* A small class which provides helper fucntions to override control output limits which are usually set by * parameters in special cases */ diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h index f3d33ec20..fc530b295 100644 --- a/src/modules/uORB/topics/tecs_status.h +++ b/src/modules/uORB/topics/tecs_status.h @@ -50,6 +50,14 @@ * @{ */ +typedef enum { + TECS_MODE_NORMAL, + TECS_MODE_UNDERSPEED, + TECS_MODE_TAKEOFF, + TECS_MODE_LAND, + TECS_MODE_LAND_THROTTLELIM +} tecs_mode; + /** * Internal values of the (m)TECS fixed wing speed alnd altitude control system */ @@ -69,6 +77,8 @@ struct tecs_status_s { float totalEnergyRate; float energyDistributionRateSp; float energyDistributionRate; + + tecs_mode mode; }; /** -- cgit v1.2.3