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FlightTaskAutoLine: replace xy/z setpoints with FlightTask base setpoints

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 37bfd8e01a
commit 0efbbdc227
3 changed files with 32 additions and 35 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+2 -4
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@@ -73,11 +73,9 @@ protected:
matrix::Vector3f _prev_wp{}; /**< Triplet previous setpoint in local frame. If not previous triplet is available, the prev_wp is set to current position. */
matrix::Vector3f _target{}; /**< Triplet target setpoint in local frame. */
matrix::Vector3f _next_wp{}; /**< Triplet setpoint in local frame. If no next setpoint is available, next is set to target. */
float _yaw_wp =
0.0f; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
to triplet waypoint. This way it would be easy for multicopter to implement features where yaw does not matter. */
float _mc_cruise_speed =
0.0f; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
float _mc_cruise_speed{0.0f}; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
private: