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collision_prevention: fix CP_GO_NO_DATA parameter type

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Daniel Agar
2021-05-04 11:32:35 -04:00
parent 24c2967511
commit 3ec40a5956
3 changed files with 3 additions and 3 deletions
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2
src/lib/collision_prevention/CollisionPrevention.cpp
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@@ -389,7 +389,7 @@ CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vec
// read parameters // read parameters
const float col_prev_d = _param_cp_dist.get(); const float col_prev_d = _param_cp_dist.get();
const float col_prev_dly = _param_cp_delay.get(); const float col_prev_dly = _param_cp_delay.get();
const bool move_no_data = _param_cp_go_nodata.get() > 0; const bool move_no_data = _param_cp_go_nodata.get();
const float xy_p = _param_mpc_xy_p.get(); const float xy_p = _param_mpc_xy_p.get();
const float max_jerk = _param_mpc_jerk_max.get(); const float max_jerk = _param_mpc_jerk_max.get();
const float max_accel = _param_mpc_acc_hor.get(); const float max_accel = _param_mpc_acc_hor.get();

2
src/lib/collision_prevention/CollisionPrevention.hpp
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@@ -145,7 +145,7 @@ private:
(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, /**< collision prevention keep minimum distance */ (ParamFloat<px4::params::CP_DIST>) _param_cp_dist, /**< collision prevention keep minimum distance */
(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, /**< delay of the range measurement data*/ (ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, /**< delay of the range measurement data*/
(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, /**< collision prevention change setpoint angle */ (ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, /**< collision prevention change setpoint angle */
(ParamFloat<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/ (ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/
(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, /**< p gain from position controller*/ (ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, /**< p gain from position controller*/
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< vehicle maximum jerk*/ (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< vehicle maximum jerk*/
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor /**< vehicle maximum horizontal acceleration*/ (ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor /**< vehicle maximum horizontal acceleration*/

2
src/lib/collision_prevention/collisionprevention_params.c
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@@ -83,4 +83,4 @@ PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);
* @boolean * @boolean
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(CP_GO_NO_DATA, 0); PARAM_DEFINE_INT32(CP_GO_NO_DATA, 0);