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FixedWingPositionControl: ommit */ with ///< doxygen comments

This commit is contained in:
Matthias Grob 2019-11-28 12:59:01 +01:00 committed by Daniel Agar
parent f2d08df777
commit 633469dd8c
1 changed files with 41 additions and 41 deletions
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82
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
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@ -153,53 +153,53 @@ private:
uORB::SubscriptionCallbackWorkItem _global_pos_sub{this, ORB_ID(vehicle_global_position)};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription */
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates */
uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription */
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription */
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription
uORB::SubscriptionData<vehicle_angular_velocity_s> _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint
orb_id_t _attitude_setpoint_id{nullptr};
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication */
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication */
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication */
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint */
vehicle_command_s _vehicle_command {}; ///< vehicle commands */
vehicle_control_mode_s _control_mode {}; ///< control mode */
vehicle_global_position_s _global_pos {}; ///< global vehicle position */
vehicle_local_position_s _local_pos {}; ///< vehicle local position */
vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected */
vehicle_status_s _vehicle_status {}; ///< vehicle status */
manual_control_setpoint_s _manual {}; ///< r/c channel data
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint
vehicle_command_s _vehicle_command {}; ///< vehicle commands
vehicle_control_mode_s _control_mode {}; ///< control mode
vehicle_global_position_s _global_pos {}; ///< global vehicle position
vehicle_local_position_s _local_pos {}; ///< vehicle local position
vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected
vehicle_status_s _vehicle_status {}; ///< vehicle status
SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
perf_counter_t _loop_perf; ///< loop performance counter */
perf_counter_t _loop_perf; ///< loop performance counter
float _hold_alt{0.0f}; ///< hold altitude for altitude mode */
float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched */
float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode */
bool _hdg_hold_enabled{false}; ///< heading hold enabled */
bool _yaw_lock_engaged{false}; ///< yaw is locked for heading hold */
float _althold_epv{0.0f}; ///< the position estimate accuracy when engaging alt hold */
bool _was_in_deadband{false}; ///< wether the last stick input was in althold deadband */
float _hold_alt{0.0f}; ///< hold altitude for altitude mode
float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched
float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode
bool _hdg_hold_enabled{false}; ///< heading hold enabled
bool _yaw_lock_engaged{false}; ///< yaw is locked for heading hold
float _althold_epv{0.0f}; ///< the position estimate accuracy when engaging alt hold
bool _was_in_deadband{false}; ///< wether the last stick input was in althold deadband
position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started */
position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies */
position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started
position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies
hrt_abstime _control_position_last_called{0}; ///< last call of control_position */
hrt_abstime _control_position_last_called{0}; ///< last call of control_position
/* Landing */
bool _land_noreturn_horizontal{false};
@ -211,18 +211,18 @@ private:
Landingslope _landingslope;
hrt_abstime _time_started_landing{0}; ///< time at which landing started */
hrt_abstime _time_started_landing{0}; ///< time at which landing started
float _t_alt_prev_valid{0}; ///< last terrain estimate which was valid */
hrt_abstime _time_last_t_alt{0}; ///< time at which we had last valid terrain alt */
float _t_alt_prev_valid{0}; ///< last terrain estimate which was valid
hrt_abstime _time_last_t_alt{0}; ///< time at which we had last valid terrain alt
float _flare_height{0.0f}; ///< estimated height to ground at which flare started */
float _flare_pitch_sp{0.0f}; ///< Current forced (i.e. not determined using TECS) flare pitch setpoint */
float _flare_height{0.0f}; ///< estimated height to ground at which flare started
float _flare_pitch_sp{0.0f}; ///< Current forced (i.e. not determined using TECS) flare pitch setpoint
float _flare_curve_alt_rel_last{0.0f};
float _target_bearing{0.0f}; ///< estimated height to ground at which flare started */
float _target_bearing{0.0f}; ///< estimated height to ground at which flare started
bool _was_in_air{false}; ///< indicated wether the plane was in the air in the previous interation*/
hrt_abstime _time_went_in_air{0}; ///< time at which the plane went in the air */
hrt_abstime _time_went_in_air{0}; ///< time at which the plane went in the air
/* Takeoff launch detection and runway */
LaunchDetector _launchDetector;
@ -308,7 +308,7 @@ private:
// VTOL
float airspeed_trans;
int32_t vtol_type;
} _parameters{}; ///< local copies of interesting parameters */
} _parameters{}; ///< local copies of interesting parameters
struct {
param_t climbout_diff;
@ -372,7 +372,7 @@ private:
param_t loiter_radius;
param_t vtol_type;
} _parameter_handles {}; ///< handles for interesting parameters */
} _parameter_handles {}; ///< handles for interesting parameters
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_GND_SPD_MIN>) _groundspeed_min