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fw_pos_control fix parameter sanity check (#8521)

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- the sanity check result wasn't being sent to the user and prevents landing slope, runway takeoff, and launch detector parameter updates.
This commit is contained in:
Daniel Agar
2017-12-26 16:02:31 -05:00
committed by GitHub
parent 1cab556ddb
commit 370da89573
1 changed files with 12 additions and 11 deletions
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23
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@@ -216,17 +216,6 @@ FixedwingPositionControl::parameters_update()
_tecs.set_heightrate_ff(_parameters.heightrate_ff);
_tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min ||
_parameters.airspeed_max < 5.0f ||
_parameters.airspeed_min > 100.0f ||
_parameters.airspeed_trim < _parameters.airspeed_min ||
_parameters.airspeed_trim > _parameters.airspeed_max) {
PX4_WARN("error: airspeed parameters invalid");
return PX4_ERROR;
}
/* Update the landing slope */
_landingslope.update(radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative,
_parameters.land_thrust_lim_alt_relative, _parameters.land_H1_virt);
@@ -241,6 +230,18 @@ FixedwingPositionControl::parameters_update()
_launchDetector.updateParams();
_runway_takeoff.updateParams();
/* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min ||
_parameters.airspeed_max < 5.0f ||
_parameters.airspeed_min > 100.0f ||
_parameters.airspeed_trim < _parameters.airspeed_min ||
_parameters.airspeed_trim > _parameters.airspeed_max) {
mavlink_log_critical(&_mavlink_log_pub, "Airspeed parameters invalid");
return PX4_ERROR;
}
return PX4_OK;
}