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FW Pos controller: fix format in new switch

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Jaeyoung-Lim
2021-10-09 15:54:05 +02:00
committed by JaeyoungLim
parent c3e961a1ed
commit ae9e91f90c
1 changed files with 190 additions and 189 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+10 -9
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@@ -671,7 +671,8 @@ FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_lim
} }
void void
FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid) { FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
{
if ((_control_mode.flag_control_auto_enabled || _control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) { if ((_control_mode.flag_control_auto_enabled || _control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) {
_control_mode_current = FW_POSCTRL_MODE_AUTO; _control_mode_current = FW_POSCTRL_MODE_AUTO;
@@ -689,6 +690,7 @@ FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid) {
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get()); _att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
_att_sp.yaw_body = 0; _att_sp.yaw_body = 0;
} }
_control_mode_current = FW_POSCTRL_MODE_POSITION; _control_mode_current = FW_POSCTRL_MODE_POSITION;
} else if (_control_mode.flag_control_altitude_enabled) { } else if (_control_mode.flag_control_altitude_enabled) {
@@ -749,8 +751,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
} }
switch (_control_mode_current) { switch (_control_mode_current) {
case FW_POSCTRL_MODE_AUTO: case FW_POSCTRL_MODE_AUTO: {
{
/* reset hold altitude */ /* reset hold altitude */
_hold_alt = _current_altitude; _hold_alt = _current_altitude;
@@ -811,11 +812,11 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
/* just kicked out of loiter, reset roll integrals */ /* just kicked out of loiter, reset roll integrals */
_att_sp.roll_reset_integral = true; _att_sp.roll_reset_integral = true;
} }
break; break;
} }
case FW_POSCTRL_MODE_POSITION: case FW_POSCTRL_MODE_POSITION: {
{
/* update desired altitude based on user pitch stick input */ /* update desired altitude based on user pitch stick input */
update_desired_altitude(dt); update_desired_altitude(dt);
@@ -914,11 +915,11 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
_att_sp.roll_body = roll_sp_new; _att_sp.roll_body = roll_sp_new;
_att_sp.yaw_body = 0; _att_sp.yaw_body = 0;
} }
break; break;
} }
case FW_POSCTRL_MODE_ALTITUDE: case FW_POSCTRL_MODE_ALTITUDE: {
{
/* ALTITUDE CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */ /* ALTITUDE CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */
/* Get demanded airspeed */ /* Get demanded airspeed */
@@ -957,8 +958,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
break; break;
} }
case FW_POSCTRL_MODE_OTHER: case FW_POSCTRL_MODE_OTHER: {
{
/* do not publish the setpoint */ /* do not publish the setpoint */
setpoint = false; setpoint = false;
// reset hold altitude // reset hold altitude
@@ -969,6 +969,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
reset_landing_state(); reset_landing_state();
reset_takeoff_state(); reset_takeoff_state();
} }
break; break;
} }
} }