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px4-firmware
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fw_pos_control_l1: warning fixes

This commit is contained in:
Julian Oes 2014-02-19 10:49:03 +01:00
parent 84df8ee78d
commit 18f71e6bc4
1 changed files with 28 additions and 27 deletions
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55
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -362,6 +362,7 @@ FixedwingPositionControl *g_control;
FixedwingPositionControl::FixedwingPositionControl() :
_mavlink_fd(-1),
_task_should_exit(false),
_control_task(-1),
@ -380,36 +381,34 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
/* states */
_setpoint_valid(false),
_loiter_hold(false),
_airspeed_error(0.0f),
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
land_noreturn_horizontal(false),
land_noreturn_vertical(false),
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
flare_curve_alt_last(0.0f),
_mavlink_fd(-1),
launchDetector(),
launch_detected(false),
usePreTakeoffThrust(false)
usePreTakeoffThrust(false),
flare_curve_alt_last(0.0f),
launchDetector(),
_airspeed_error(0.0f),
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false)
{
/* safely initialize structs */
vehicle_attitude_s _att = {0};
vehicle_attitude_setpoint_s _att_sp = {0};
navigation_capabilities_s _nav_capabilities = {0};
manual_control_setpoint_s _manual = {0};
airspeed_s _airspeed = {0};
vehicle_control_mode_s _control_mode = {0};
vehicle_global_position_s _global_pos = {0};
position_setpoint_triplet_s _pos_sp_triplet = {0};
sensor_combined_s _sensor_combined = {0};
memset(&_att, 0, sizeof(vehicle_attitude_s));
memset(&_att_sp, 0, sizeof(vehicle_attitude_setpoint_s));
memset(&_nav_capabilities, 0, sizeof(navigation_capabilities_s));
memset(&_manual, 0, sizeof(manual_control_setpoint_s));
memset(&_airspeed, 0, sizeof(airspeed_s));
memset(&_control_mode, 0, sizeof(vehicle_control_mode_s));
memset(&_global_pos, 0, sizeof(vehicle_global_position_s));
memset(&_pos_sp_triplet, 0, sizeof(position_setpoint_triplet_s));
memset(&_sensor_combined, 0, sizeof(sensor_combined_s));
_nav_capabilities.turn_distance = 0.0f;
@ -916,7 +915,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
/* avoid climbout */
if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground)
{
flare_curve_alt = pos_sp_triplet.current.alt;
land_stayonground = true;
@ -1074,13 +1073,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
}
/* climb out control */
bool climb_out = false;
//XXX not used
/* user wants to climb out */
if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
climb_out = true;
}
/* climb out control */
// bool climb_out = false;
//
// /* user wants to climb out */
// if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
// climb_out = true;
// }
/* if in seatbelt mode, set airspeed based on manual control */
@ -1287,7 +1288,7 @@ FixedwingPositionControl::task_main()
float turn_distance = _l1_control.switch_distance(100.0f);
/* lazily publish navigation capabilities */
if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {
if (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON && turn_distance > 0) {
/* set new turn distance */
_nav_capabilities.turn_distance = turn_distance;