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flight tasks: refactor BlockParam -> Param and handle param updates

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This commit is contained in:
Beat Küng
2018-04-11 07:47:06 +02:00
parent 2e620cf1d4
commit 0eaa6222a2
19 changed files with 89 additions and 86 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+8 -5
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@@ -44,17 +44,20 @@
class FlightTaskManualAltitude : public FlightTaskManualStabilized
{
public:
FlightTaskManualAltitude(control::SuperBlock *parent, const char *name);
FlightTaskManualAltitude() = default;
virtual ~FlightTaskManualAltitude() = default;
protected:
control::BlockParamFloat _vel_max_down; /**< maximum speed allowed to go up */
control::BlockParamFloat _vel_max_up; /**< maximum speed allowed to go down */
control::BlockParamFloat _vel_hold_thr_z; /**< velocity threshold to switch back into vertical position hold */
void _updateAltitudeLock(); /**< checks for position lock */
void _updateSetpoints() override; /**< updates all setpoints */
void _scaleSticks() override; /**< scales sticks to velocity in z */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down, /**< maximum speed allowed to go up */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _vel_max_up, /**< maximum speed allowed to go down */
(ParamFloat<px4::params::MPC_HOLD_MAX_Z>)
_vel_hold_thr_z /**< velocity threshold to switch back into vertical position hold */
)
};