dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge remote-tracking branch 'px4/mtecs' into navigator_rewrite

This commit is contained in:
Julian Oes 2014-06-27 13:07:20 +02:00
parent affc312411 831a3d4ed1
commit 3aab37e0e0
2 changed files with 4 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
View File

@ -199,8 +199,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
}
/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits
BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits
BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
if (mode == TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
@ -218,12 +218,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
* parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
* is running) */
bool limitApplied = limitOverride.applyOverride(outputLimiterThrottle == NULL ?
_controlTotalEnergy.getOutputLimiter() :
*outputLimiterThrottle,
outputLimiterPitch == NULL ?
_controlEnergyDistribution.getOutputLimiter() :
*outputLimiterPitch);
bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.airspeedDerivativeSp = airspeedDerivativeSp;

2
src/modules/sdlog2/sdlog2_messages.h
View File

@ -431,7 +431,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"),
LOG_FORMAT(TECS, "fffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
/* system-level messages, ID >= 0x80 */