vtol_attitude_control: hotfix, do not update parameters on every iteration

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/vtol_att_control/standard.cpp

@@ -75,7 +75,7 @@ Standard::~Standard()
 {
 }
 
-int
+void
 Standard::parameters_update()
 {
 	float v;
@@ -122,13 +122,10 @@ Standard::parameters_update()
 
 
 
-	return OK;
 }
 
 void Standard::update_vtol_state()
 {
-	parameters_update();
-
 	/* After flipping the switch the vehicle will start the pusher (or tractor) motor, picking up
 	 * forward speed. After the vehicle has picked up enough speed the rotors shutdown.
 	 * For the back transition the pusher motor is immediately stopped and rotors reactivated.

src/modules/vtol_att_control/standard.h

@@ -110,7 +110,6 @@ private:
 
 	void set_max_mc(unsigned pwm_value);
 
-	int parameters_update();
-
+	virtual void parameters_update();
 };
 #endif

src/modules/vtol_att_control/tailsitter.cpp

@@ -81,7 +81,7 @@ Tailsitter::~Tailsitter()
 
 }
 
-int
+void
 Tailsitter::parameters_update()
 {
 	float v;
@@ -117,13 +117,10 @@ Tailsitter::parameters_update()
 	if (_params_tailsitter.airspeed_trans < _params_tailsitter.airspeed_blend_start + 1.0f) {
 		_params_tailsitter.airspeed_trans = _params_tailsitter.airspeed_blend_start + 1.0f;
 	}
-
-	return OK;
 }
 
 void Tailsitter::update_vtol_state()
 {
-	parameters_update();
 
 	/* simple logic using a two way switch to perform transitions.
 	 * after flipping the switch the vehicle will start tilting in MC control mode, picking up

src/modules/vtol_att_control/tailsitter.h

@@ -122,7 +122,7 @@ private:
 	/**
 	 * Update parameters.
 	 */
-	int parameters_update();
+	virtual void parameters_update();
 
 };
 #endif

src/modules/vtol_att_control/tiltrotor.cpp

@@ -75,7 +75,7 @@ Tiltrotor::~Tiltrotor()
 
 }
 
-int
+void
 Tiltrotor::parameters_update()
 {
 	float v;
@@ -128,8 +128,6 @@ Tiltrotor::parameters_update()
 	if (_params_tiltrotor.airspeed_trans < _params_tiltrotor.airspeed_blend_start + 1.0f) {
 		_params_tiltrotor.airspeed_trans = _params_tiltrotor.airspeed_blend_start + 1.0f;
 	}
-
-	return OK;
 }
 
 int Tiltrotor::get_motor_off_channels(int channels)
@@ -154,7 +152,6 @@ int Tiltrotor::get_motor_off_channels(int channels)
 
 void Tiltrotor::update_vtol_state()
 {
-	parameters_update();
 
 	/* simple logic using a two way switch to perform transitions.
 	 * after flipping the switch the vehicle will start tilting rotors, picking up

src/modules/vtol_att_control/tiltrotor.h

@@ -133,7 +133,7 @@ private:
 	/**
 	 * Update parameters.
 	 */
-	int parameters_update();
+	virtual void parameters_update();
 
 };
 #endif

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -564,6 +564,11 @@ VtolAttitudeControl::parameters_update()
 	_params.fw_min_alt = v;
 
 
+	// update the parameters of the instances of base VtolType
+	if (_vtol_type != nullptr) {
+		_vtol_type->parameters_update();
+	}
+
 	return OK;
 }
 

src/modules/vtol_att_control/vtol_type.h

@@ -139,6 +139,8 @@ public:
 
 	mode get_mode() {return _vtol_mode;};
 
+	virtual void parameters_update() = 0;
+
 protected:
 	VtolAttitudeControl *_attc;
 	mode _vtol_mode;