fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 07:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTask: fixed time initialization issues

Browse Source
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 582990c0af
commit 0aeea44780
1 changed files with 7 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTask.hpp
+7 -8
View File
@@ -49,7 +49,6 @@ public:
{ {
_vehicle_position = nullptr; _vehicle_position = nullptr;
_manual_control_setpoint = nullptr; _manual_control_setpoint = nullptr;
_reset_time();
}; };
virtual ~FlightTask() {}; virtual ~FlightTask() {};
@@ -60,7 +59,8 @@ public:
*/ */
virtual int activate() virtual int activate()
{ {
_reset_time(); _starting_time_stamp = hrt_absolute_time();
FlightTask::update();
return 0; return 0;
}; };
@@ -77,7 +77,7 @@ public:
virtual int update() virtual int update()
{ {
_time = hrt_elapsed_time(&_starting_time_stamp) / 1e6f; _time = hrt_elapsed_time(&_starting_time_stamp) / 1e6f;
_deltatime = math::min(hrt_elapsed_time(&_last_time_stamp) / 1e6f, (float)_timeout); _deltatime = math::min((int)hrt_elapsed_time(&_last_time_stamp), _timeout) / 1e6f;
_last_time_stamp = hrt_absolute_time(); _last_time_stamp = hrt_absolute_time();
updateSubscriptions(); updateSubscriptions();
_evaluate_sticks(); _evaluate_sticks();
@@ -107,13 +107,12 @@ protected:
float _time = 0; /*< passed time in seconds since the task was activated */ float _time = 0; /*< passed time in seconds since the task was activated */
float _deltatime = 0; /*< passed time in seconds since the task was last updated */ float _deltatime = 0; /*< passed time in seconds since the task was last updated */
void _reset_time() { _starting_time_stamp = hrt_absolute_time(); };
/* Prepared general inputs for every task */ /* Prepared general inputs for every task */
matrix::Vector<float, 4> _sticks; matrix::Vector<float, 4> _sticks;
matrix::Vector3f _position; /*< current vehicle position */ matrix::Vector3f _position; /*< current vehicle position */
matrix::Vector3f _velocity; /*< current vehicle velocity */ matrix::Vector3f _velocity; /*< current vehicle velocity */
float _yaw; float _yaw = 0.f;
/** /**
* Put the position vector produced by the task into the setpoint message * Put the position vector produced by the task into the setpoint message
@@ -157,10 +156,10 @@ protected:
}; };
private: private:
static const int _timeout = 500000; static constexpr int _timeout = 500000; /*< maximal time in us before a loop or data times out */
hrt_abstime _starting_time_stamp; /*< time stamp when task was activated */ hrt_abstime _starting_time_stamp = 0; /*< time stamp when task was activated */
hrt_abstime _last_time_stamp; /*< time stamp when task was last updated */ hrt_abstime _last_time_stamp = 0; /*< time stamp when task was last updated */
/* General input that every task has */ /* General input that every task has */
const vehicle_local_position_s *_vehicle_position; const vehicle_local_position_s *_vehicle_position;