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Update fw_att_control_main.cpp

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Make the declarations of the  variables "roll_sp, pitch_sp, yaw_sp, throttle_sp," in the main loop more readable.
This commit is contained in:
CAI Dongcai
2017-06-04 16:25:54 +08:00
committed by Lorenz Meier
parent d9dd1b231d
commit 0dfd8cd039
1 changed files with 5 additions and 10 deletions
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15
src/modules/fw_att_control/fw_att_control_main.cpp
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@@ -985,12 +985,6 @@ FixedwingAttitudeControl::task_main()
float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f); float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed); float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_sp = 0.0f;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
// in STABILIZED mode we need to generate the attitude setpoint // in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs // from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) { if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
@@ -1009,10 +1003,11 @@ FixedwingAttitudeControl::task_main()
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT); orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
} }
roll_sp = _att_sp.roll_body; float roll_sp = _att_sp.roll_body;
pitch_sp = _att_sp.pitch_body; float pitch_sp = _att_sp.pitch_body;
yaw_sp = _att_sp.yaw_body; float yaw_sp = _att_sp.yaw_body;
throttle_sp = _att_sp.thrust; float throttle_sp = _att_sp.thrust;
float yaw_manual = 0.0f;
/* allow manual yaw in manual modes */ /* allow manual yaw in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) { if (_vcontrol_mode.flag_control_manual_enabled) {