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Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks

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This commit is contained in:
bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent 67c0846068
commit 0209fa00bf
9 changed files with 645 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+16 -1
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@@ -885,7 +885,22 @@ MulticopterPositionControl::start_flight_task()
} else if (_control_mode.flag_control_auto_enabled) {
// Auto relate maneuvers
int error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
int error = 0;
switch (MPC_POS_MODE.get()) {
case 0:
case 1:
case 2:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
break;
case 3:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLineSmoothVel);
break;
default:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
break;
}
if (error != 0) {
if (prev_failure_count == 0) {