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vtol attitude control: fixed code style

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Signed-off-by: tumbili <roman@px4.io>
This commit is contained in:
tumbili
2016-06-22 11:14:35 +02:00
committed by Roman
parent bbf852787e
commit c1ba7ab62b
1 changed files with 7 additions and 5 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -5
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@@ -188,7 +188,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED || if (((_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED ||
_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) && _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) (float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) || > (_params_standard.front_trans_time_min * 1000000.0f)) ||
can_transition_on_ground()) { can_transition_on_ground()) {
@@ -250,11 +250,13 @@ void Standard::update_transition_state()
_mc_yaw_weight = weight; _mc_yaw_weight = weight;
_mc_throttle_weight = weight; _mc_throttle_weight = weight;
// time based blending when no airspeed sensor is set // time based blending when no airspeed sensor is set
} else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED && } else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f) (float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f)
) { ) {
float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_time_min * 1000000.0f)); float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_time_min * 1000000.0f));
_mc_roll_weight = weight; _mc_roll_weight = weight;
_mc_pitch_weight = weight; _mc_pitch_weight = weight;
_mc_yaw_weight = weight; _mc_yaw_weight = weight;