From 929d713379654959915c6e5c0aa059087c59615d Mon Sep 17 00:00:00 2001 From: Pernilla Date: Wed, 22 Jan 2025 18:09:42 +0100 Subject: [PATCH] small review fixes: changing to references, and adding const --- .../FlightTaskManualAccelerationSlow.cpp | 2 +- .../flight_task_acceleration_slow_params.c | 2 +- src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp | 4 ++-- src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp | 4 ++-- src/modules/logger/logged_topics.cpp | 2 +- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp index f11c8849571b..b1abc6ccf5b9 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp @@ -135,7 +135,7 @@ bool FlightTaskManualAccelerationSlow::update() if (_gimbal.checkForTelemetry(_time_stamp_current)) { _gimbal.acquireGimbalControlIfNeeded(); - float pitchrate_gimbal = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_pitch.get()) * yaw_rate; + const float pitchrate_gimbal = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_pitch.get()) * yaw_rate; _yawspeed_setpoint = shapeYawStickToGimbalRate(_sticks.getYaw(), yaw_rate); _gimbal.publishGimbalManagerSetAttitude(Gimbal::FLAGS_ALL_AXES_LOCKED, Quatf(NAN, NAN, NAN, NAN), diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c index 9886b10c5908..32558d98ead9 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c @@ -169,4 +169,4 @@ PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f); * @value 6 AUX6 * @group Multicopter Position Slow Mode */ -PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 4); +PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 0); diff --git a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp index 5b02d30d7d3e..21e97f5fc3fa 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp @@ -110,8 +110,8 @@ void Gimbal::releaseGimbalControlIfNeeded() } void Gimbal::publishGimbalManagerSetAttitude(const uint16_t gimbal_flags, - const matrix::Quatf q_gimbal_setpoint, - const matrix::Vector3f gimbal_rates) + const matrix::Quatf &q_gimbal_setpoint, + const matrix::Vector3f &gimbal_rates) { gimbal_manager_set_attitude_s gimbal_setpoint{}; gimbal_setpoint.origin_sysid = _param_mav_sys_id.get(); diff --git a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp index 94144582c483..e136f56bb86f 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp +++ b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp @@ -57,8 +57,8 @@ class Gimbal : public ModuleParams bool checkForTelemetry(const hrt_abstime now); void publishGimbalManagerSetAttitude(const uint16_t gimbal_flags, - const matrix::Quatf q_gimbal_setpoint, - const matrix::Vector3f gimbal_rates); + const matrix::Quatf &q_gimbal_setpoint, + const matrix::Vector3f &gimbal_rates); void acquireGimbalControlIfNeeded(); void releaseGimbalControlIfNeeded(); float getTelemetryYaw() { return _telemetry_yaw; } diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index bcfb4c3be16a..3e91b2461975 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -70,7 +70,7 @@ void LoggedTopics::add_default_topics() add_optional_topic("flaps_setpoint", 1000); add_optional_topic("flight_phase_estimation", 1000); add_optional_topic("fuel_tank_status", 10); - add_topic("gimbal_manager_set_attitude"); + add_topic("gimbal_manager_set_attitude", 500); add_optional_topic("generator_status"); add_optional_topic("gps_dump"); add_optional_topic("gimbal_controls", 200);