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FW Position controller: rename LAUN_ALL_ON to LAUN_DECTN_ON

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-09 16:05:00 +01:00
parent c8129fd902
commit e6e2c889e0
4 changed files with 19 additions and 7 deletions
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src/lib/parameters/param_translation.cpp
+9 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved. * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -266,6 +266,14 @@ bool param_modify_on_import(bson_node_t node)
double _param_vt_f_trans_thr = param_find("VT_F_TRANS_THR"); double _param_vt_f_trans_thr = param_find("VT_F_TRANS_THR");
node->d = _param_vt_f_trans_thr / node->d; node->d = _param_vt_f_trans_thr / node->d;
PX4_INFO("copying %s -> %s", "VT_PSHER_RMP_DT", "VT_PSHER_SLEW"); PX4_INFO("copying %s -> %s", "VT_PSHER_RMP_DT", "VT_PSHER_SLEW");
}
}
// 2022-11-09: translate LAUN_ALL_ON->LAUN_DETCN_ON
{
if (strcmp("LAUN_ALL_ON", node->name) == 0) {
strcpy(node->name, "LAUN_DETCN_ON");
PX4_INFO("copying %s -> %s", "LAUN_ALL_ON", "LAUN_DETCN_ON");
return true; return true;
} }
} }
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 { } else {
/* Perform launch detection */ /* Perform launch detection */
if (!_skipping_takeoff_detection && _param_laun_all_on.get() && if (!_skipping_takeoff_detection && _param_laun_detcn_on.get() &&
_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) { _launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
if (_control_mode.flag_armed) { 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 if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_laun_all_on.get()) { && _param_laun_detcn_on.get()) {
_launch_detected = true; _launch_detected = true;
_launch_global_position = global_position; _launch_global_position = global_position;
_takeoff_ground_alt = _current_altitude; _takeoff_ground_alt = _current_altitude;
@@ -1567,7 +1567,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
/* Set control values depending on the detection state */ /* Set control values depending on the detection state */
if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_laun_all_on.get()) { && _param_laun_detcn_on.get()) {
/* Launch has been detected, hence we have to control the plane. */ /* Launch has been detected, hence we have to control the plane. */
if (_param_fw_use_npfg.get()) { if (_param_fw_use_npfg.get()) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
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@@ -878,7 +878,7 @@ private:
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd, (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 (ParamBool<px4::params::LAUN_DETCN_ON>) _param_laun_detcn_on
) )
}; };
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+6 -2
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@@ -1120,9 +1120,13 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f); PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
/** /**
* Launch detection * FW Launch detection
*
* Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
* Only available for fixed-wing vehicles.
* Not compatible with runway takeoff.
* *
* @boolean * @boolean
* @group FW Launch detection * @group FW Launch detection
*/ */
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0); PARAM_DEFINE_INT32(LAUN_DETCN_ON, 0);