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px4-firmware
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Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode.

This commit is contained in:
Thomas 2020-11-27 11:56:28 +01:00 committed by Silvan Fuhrer
parent f1524fe27d
commit 1e6976234f
2 changed files with 8 additions and 27 deletions
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29
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -516,11 +516,12 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
if (cmd_mavlink.command == MAV_CMD_DO_CHANGE_SPEED) {
// Not differentiating between airspeed and groundspeed yet
set_offb_cruising_speed(cmd_mavlink.param2);
} else if (cmd_mavlink.command == MAV_CMD_DO_CHANGE_SPEED) {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
// Not differentiating between airspeed and groundspeed yet
set_offb_cruising_speed(cmd_mavlink.param2);
}
}
if (!send_ack) {
@ -1539,7 +1540,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
att_sp.yaw_sp_move_rate = 0.0f;
}
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid
fill_thrust(att_sp.thrust_body, _vehicle_status.vehicle_type, set_attitude_target.thrust);
}
@ -1577,7 +1578,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
rates_sp.yaw = set_attitude_target.body_yaw_rate;
}
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid
fill_thrust(rates_sp.thrust_body, _vehicle_status.vehicle_type, set_attitude_target.thrust);
}
@ -2972,14 +2973,7 @@ MavlinkReceiver::Run()
updateParams();
}
// reset cruising speed on mode changes
if (_vehicle_status_sub.update(&_vehicle_status)) {
if (_last_nav_state != _vehicle_status.nav_state) {
reset_offb_cruising_speed();
_last_nav_state = _vehicle_status.nav_state;
}
}
_vehicle_status_sub.update(&_vehicle_status);
int ret = poll(&fds[0], 1, timeout);
@ -3161,10 +3155,3 @@ MavlinkReceiver::set_offb_cruising_speed(float speed)
_offb_cruising_speed_fw = speed;
}
}
void
MavlinkReceiver::reset_offb_cruising_speed()
{
_offb_cruising_speed_mc = -1.0f;
_offb_cruising_speed_fw = -1.0f;
}

6
src/modules/mavlink/mavlink_receiver.h
View File

@ -140,11 +140,6 @@ public:
*/
void set_offb_cruising_speed(float speed = -1.0f);
/**
* Reset all offboard cruising speeds to default values
*/
void reset_offb_cruising_speed();
private:
void acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result);
@ -340,7 +335,6 @@ private:
hrt_abstime _last_utm_global_pos_com{0};
vehicle_status_s _vehicle_status{};
uint8_t _last_nav_state{0};
float _offb_cruising_speed_mc{-1.0f};
float _offb_cruising_speed_fw{-1.0f};