From 3c2ccf4d88892dd7bf9de42fbe0b48c37b0ef657 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 28 Oct 2012 09:46:51 +0100
Subject: [PATCH] [fixedwing] fix energy_ctl compilation if
 V_CTL_AUTO_GROUNDSPEED_SETPOINT is not used/defined also specify the params
 in the settings files for saving

---
 conf/airframes/examples/MentorEnergy.xml      |  5 +++++
 conf/settings/control/ctl_energy.xml          |  6 ++---
 conf/settings/control/ctl_energyadaptive.xml  |  6 ++---
 .../fixedwing/guidance/energy_ctrl.c          | 22 +++++++++++--------
 4 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/conf/airframes/examples/MentorEnergy.xml b/conf/airframes/examples/MentorEnergy.xml
index 4b9302a6239..b626c6a2e07 100644
--- a/conf/airframes/examples/MentorEnergy.xml
+++ b/conf/airframes/examples/MentorEnergy.xml
@@ -158,6 +158,7 @@
     <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
     <define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
     <define name="RACE_AIRSPEED" value="25." unit="m/s"/>
+    <define name="STALL_AIRSPEED" value="10." unit="m/s"/>
 
     <define name="CARROT" value="5." unit="s"/>
 
@@ -197,6 +198,10 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>
 
     <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
+
+    <!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml
index f5cfc27a559..4b56122d342 100644
--- a/conf/settings/control/ctl_energy.xml
+++ b/conf/settings/control/ctl_energy.xml
@@ -53,9 +53,9 @@
       </dl_settings>
 
       <dl_settings name="groundspeed">
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"  module="guidance/energy_ctrl" param="V_CTL_AUTO_GROUNDSPEED_SETPOINT"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain" param="V_CTL_AUTO_GROUNDSPEED_PGAIN"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain" param="V_CTL_AUTO_GROUNDSPEED_IGAIN"/>
       </dl_settings>
 <!--
 
diff --git a/conf/settings/control/ctl_energyadaptive.xml b/conf/settings/control/ctl_energyadaptive.xml
index 5ad7e0af6c4..eb8aa9525cb 100644
--- a/conf/settings/control/ctl_energyadaptive.xml
+++ b/conf/settings/control/ctl_energyadaptive.xml
@@ -58,9 +58,9 @@
       </dl_settings>
 
       <dl_settings name="groundspeed">
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"  module="guidance/energy_ctrl" param="V_CTL_AUTO_GROUNDSPEED_SETPOINT"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain" param="V_CTL_AUTO_GROUNDSPEED_PGAIN"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain" param="V_CTL_AUTO_GROUNDSPEED_IGAIN"/>
       </dl_settings>
 
       <dl_settings name="climb_accel">
diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
index 21edc37852b..dac9f027542 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
@@ -123,22 +123,30 @@ float v_ctl_energy_diff_igain;
 
 float v_ctl_auto_airspeed_setpoint; ///< in meters per second
 float v_ctl_auto_airspeed_setpoint_slew;
-#ifndef AIRSPEED_SETPOINT_SLEW
-#define AIRSPEED_SETPOINT_SLEW 1
-#endif
 float v_ctl_auto_airspeed_controlled;
-#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT
+
 float v_ctl_auto_groundspeed_setpoint; ///< in meters per second
 float v_ctl_auto_groundspeed_pgain;
 float v_ctl_auto_groundspeed_igain;
 float v_ctl_auto_groundspeed_sum_err;
 #define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
-#endif
 
 pprz_t v_ctl_throttle_setpoint;
 pprz_t v_ctl_throttle_slewed;
 
 
+///////////// DEFAULT SETTINGS ////////////////
+#ifndef V_CTL_ALTITUDE_MAX_CLIMB
+#define V_CTL_ALTITUDE_MAX_CLIMB 2;
+#warning "V_CTL_ALTITUDE_MAX_CLIMB not defined - default is 2m/s"
+#endif
+#ifndef STALL_AIRSPEED
+#define STALL_AIRSPEED NOMINAL_AIRSPEED
+#endif
+#ifndef AIRSPEED_SETPOINT_SLEW
+#define AIRSPEED_SETPOINT_SLEW 1
+#endif
+
 /////////////////////////////////////////////////
 // Automatically found airplane characteristics
 
@@ -245,10 +253,6 @@ void v_ctl_init( void ) {
   v_ctl_auto_groundspeed_sum_err = 0.;
 #endif
 
-#ifndef STALL_AIRSPEED
-#define STALL_AIRSPEED NOMINAL_AIRSPEED
-#endif
-
   v_ctl_throttle_setpoint = 0;
 }