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FlightTaskManualAltitude/Position/Stabilized: activate with 0 velocity and hover thrust

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This commit is contained in:
Dennis Mannhart
2018-01-04 18:10:47 +01:00
committed by Beat Küng
parent 8bafdba4f9
commit 157814b710
3 changed files with 5 additions and 3 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+2 -1
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@@ -52,7 +52,8 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
bool FlightTaskManualAltitude::activate()
{
_pos_sp_z = _position(2);
_pos_sp_z = NAN;
_vel_sp_z = 0.0f;
return FlightTaskManualStabilized::activate();
}
src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+1 -1
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@@ -51,7 +51,7 @@ FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent,
bool FlightTaskManualPosition::activate()
{
_pos_sp_xy = matrix::Vector2f(&_position(0));
_pos_sp_xy = matrix::Vector2f(NAN, NAN);
_vel_sp_xy = matrix::Vector2f(0.0f, 0.0f);
return FlightTaskManualAltitude::activate();
}
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+2 -1
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@@ -53,8 +53,9 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
bool FlightTaskManualStabilized::activate()
{
_yaw_sp = _yaw;
_yaw_sp = NAN;
_yaw_rate_sp = 0.0f;
_thr_sp = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
return FlightTaskManual::activate();
}