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

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This commit is contained in:
Beat Küng
2018-03-26 08:14:36 +02:00
parent 2e620cf1d4
commit 0eaa6222a2
19 changed files with 89 additions and 86 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+1 -10
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@@ -40,15 +40,6 @@
using namespace matrix;
FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) :
FlightTaskManual(parent, name),
_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
_tilt_max_man(parent, "MPC_MAN_TILT_MAX", false),
_throttle_min(parent, "MPC_THR_MIN", false),
_throttle_max(parent, "MPC_THR_MAX", false),
_throttle_hover(parent, "MPC_THR_HOVER", false)
{}
bool FlightTaskManualStabilized::activate()
{
_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
@@ -68,7 +59,7 @@ void FlightTaskManualStabilized::_updateHeadingSetpoints()
/* Yaw-lock depends on stick input. If not locked,
* yaw_sp is set to NAN.
* TODO: add yawspeed to get threshold.*/
const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get();
const bool stick_yaw_zero = fabsf(_sticks(3)) <= stickDeadzone();
if (stick_yaw_zero && !PX4_ISFINITE(_yaw_setpoint)) {
_yaw_setpoint = _yaw;