From 93fb02bfa38b6a337e0ec3984e42485e0c00fc82 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 31 Oct 2016 14:54:18 +0100 Subject: [PATCH] fw_att_ctrl: Code cleanup Signed-off-by: CarlOlsson --- .../fw_att_control/fw_att_control_main.cpp | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 80d7f880e6..2aba32c67f 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1045,7 +1045,8 @@ FixedwingAttitudeControl::task_main() /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ float roll_u = _roll_ctrl.control_bodyrate(control_input); - _actuators.control[0] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; + _actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll : + _parameters.trim_roll; if (!PX4_ISFINITE(roll_u)) { _roll_ctrl.reset_integrator(); @@ -1057,7 +1058,8 @@ FixedwingAttitudeControl::task_main() } float pitch_u = _pitch_ctrl.control_bodyrate(control_input); - _actuators.control[1] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; + _actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch : + _parameters.trim_pitch; if (!PX4_ISFINITE(pitch_u)) { _pitch_ctrl.reset_integrator(); @@ -1089,10 +1091,11 @@ FixedwingAttitudeControl::task_main() yaw_u = _yaw_ctrl.control_bodyrate(control_input); } - _actuators.control[2] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; + _actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : + _parameters.trim_yaw; /* add in manual rudder control */ - _actuators.control[2] += yaw_manual; + _actuators.control[actuator_controls_s::INDEX_YAW] += yaw_manual; if (!PX4_ISFINITE(yaw_u)) { _yaw_ctrl.reset_integrator(); @@ -1106,10 +1109,10 @@ FixedwingAttitudeControl::task_main() /* throttle passed through if it is finite and if no engine failure was * detected */ - _actuators.control[3] = (PX4_ISFINITE(throttle_sp) && - !(_vehicle_status.engine_failure || - _vehicle_status.engine_failure_cmd)) ? - throttle_sp : 0.0f; + _actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) && + !(_vehicle_status.engine_failure || + _vehicle_status.engine_failure_cmd)) ? + throttle_sp : 0.0f; if (!PX4_ISFINITE(throttle_sp)) { if (_debug && loop_counter % 10 == 0) {