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Code Issues Releases Activity

Fix bug I made where guidance didn't look at new flight status object

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This commit is contained in:
James Cotton 2011-05-09 11:37:06 -05:00
parent 1c09f85be2
commit 808e3c8ea2
2 changed files with 6 additions and 5 deletions
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10
flight/Modules/Guidance/guidance.c
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@ -51,7 +51,7 @@
#include "positiondesired.h" // object that will be updated by the module
#include "positionactual.h"
#include "manualcontrol.h"
#include "manualcontrolcommand.h"
#include "flightstatus.h"
#include "nedaccel.h"
#include "stabilizationdesired.h"
#include "stabilizationsettings.h"
@ -114,7 +114,7 @@ static void guidanceTask(void *parameters)
{
SystemSettingsData systemSettings;
GuidanceSettingsData guidanceSettings;
ManualControlCommandData manualControl;
FlightStatusData flightStatus;
portTickType thisTime;
portTickType lastUpdateTime;
@ -182,11 +182,11 @@ static void guidanceTask(void *parameters)
NedAccelSet(&accelData);
ManualControlCommandGet(&manualControl);
FlightStatusGet(&flightStatus);
SystemSettingsGet(&systemSettings);
GuidanceSettingsGet(&guidanceSettings);
if ((PARSE_FLIGHT_MODE(manualControl.FlightMode) == FLIGHTMODE_GUIDANCE) &&
if ((PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_GUIDANCE) &&
((systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) ||
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) ||
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) ||
@ -204,7 +204,7 @@ static void guidanceTask(void *parameters)
positionHoldLast = 1;
}
if( manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD )
if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD )
updateVtolDesiredVelocity();
else
manualSetDesiredVelocity();

1
flight/OpenPilot/UAVObjects.inc
View File

@ -67,6 +67,7 @@ UAVOBJSRCFILENAMES += telemetrysettings
UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )