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FW Position control: move LAUN_ALL_ON param to FW Positon Control main params

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-04 12:30:51 +01:00
parent 7691e3ff32
commit b2f21b956c
5 changed files with 14 additions and 19 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1530,7 +1530,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
} else {
/* Perform launch detection */
if (!_skipping_takeoff_detection && _launchDetector.launchDetectionEnabled() &&
if (!_skipping_takeoff_detection && _param_laun_all_on.get() &&
_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
if (_control_mode.flag_armed) {
@@ -1546,7 +1546,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _launchDetector.launchDetectionEnabled()) {
&& _param_laun_all_on.get()) {
_launch_detected = true;
_launch_global_position = global_position;
_takeoff_ground_alt = _current_altitude;
@@ -1561,7 +1561,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
/* Set control values depending on the detection state */
if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _launchDetector.launchDetectionEnabled()) {
&& _param_laun_all_on.get()) {
/* Launch has been detected, hence we have to control the plane. */
if (_param_fw_use_npfg.get()) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -1
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@@ -874,7 +874,8 @@ private:
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd,
(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp
(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp,
(ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on
)
};
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+8
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@@ -1118,3 +1118,11 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
/**
* Launch detection
*
* @boolean
* @group FW Launch detection
*/
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h
-6
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@@ -74,11 +74,6 @@ public:
*/
uint getLaunchDetected() const;
/**
* @return Launch detection is enabled
*/
bool launchDetectionEnabled() { return _param_laun_all_on.get(); }
void forceSetFlyState() { _state = launch_detection_status_s::STATE_FLYING; }
private:
@@ -100,7 +95,6 @@ private:
uint _state{launch_detection_status_s::STATE_WAITING_FOR_LAUNCH};
DEFINE_PARAMETERS(
(ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on,
(ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
(ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel
src/modules/fw_pos_control_l1/launchdetection/launchdetection_params.c
+1 -9
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@@ -40,18 +40,10 @@
*/
/*
* Catapult launch detection parameters, accessible via MAVLink
* Catapult launch detection parameters
*
*/
/**
* Launch detection
*
* @boolean
* @group FW Launch detection
*/
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
/**
* Catapult accelerometer threshold.
*