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Code Issues Releases Activity

OP-1156 fixes as suggested per review

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This commit is contained in:
Corvus Corax 2014-08-20 15:29:29 +02:00
parent 801ff1ae82
commit 70460e593e
1 changed files with 5 additions and 2 deletions
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7
flight/modules/PathFollower/pathfollower.c
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@ -205,7 +205,7 @@ static void pathFollowerTask(void)
return;
}
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POI) { // TODO Hack from vtolpathfollower, move that shit into manualcontrol!
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POI) { // TODO Hack from vtolpathfollower, move into manualcontrol!
processPOI();
}
@ -258,7 +258,6 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
pid_configure(&global.PIDvel[0], vtolPathFollowerSettings.HorizontalVelPID.Kp, vtolPathFollowerSettings.HorizontalVelPID.Ki, vtolPathFollowerSettings.HorizontalVelPID.Kd, vtolPathFollowerSettings.HorizontalVelPID.ILimit);
pid_configure(&global.PIDvel[1], vtolPathFollowerSettings.HorizontalVelPID.Kp, vtolPathFollowerSettings.HorizontalVelPID.Ki, vtolPathFollowerSettings.HorizontalVelPID.Kd, vtolPathFollowerSettings.HorizontalVelPID.ILimit);
pid_configure(&global.PIDvel[2], vtolPathFollowerSettings.VerticalVelPID.Kp, vtolPathFollowerSettings.VerticalVelPID.Ki, vtolPathFollowerSettings.VerticalVelPID.Kd, vtolPathFollowerSettings.VerticalVelPID.ILimit);
pid_configure(&global.PIDvel[2], vtolPathFollowerSettings.VerticalVelPID.Kp, vtolPathFollowerSettings.VerticalVelPID.Ki, vtolPathFollowerSettings.VerticalVelPID.Kd, vtolPathFollowerSettings.VerticalVelPID.ILimit);
PathDesiredGet(&pathDesired);
}
@ -505,6 +504,8 @@ static void processPOI()
PositionStateData positionState;
PositionStateGet(&positionState);
// TODO put commented out camera feature code back in place either
// permanently or optionally or remove it
// CameraDesiredData cameraDesired;
// CameraDesiredGet(&cameraDesired);
StabilizationDesiredData stabDesired;
@ -514,6 +515,7 @@ static void processPOI()
float dLoc[3];
float yaw = 0;
// TODO camera feature
/*float elevation = 0;*/
dLoc[0] = positionState.North - poi.North;
@ -564,6 +566,7 @@ static void processPOI()
}
// not above
if (distance >= 3.0f) {
// TODO camera feature
// You can feed this into camerastabilization
/*elevation = RAD2DEG(atan2f(dLoc[2],distance));*/