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FlightTaskAuto: add update method to get triplets for the trajectory

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Martina
2018-08-09 16:38:47 -04:00
committed by Daniel Agar
parent 7c7602873e
commit 17a08a9de7
2 changed files with 29 additions and 0 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
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@@ -84,6 +84,7 @@ protected:
matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/
void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); /**< Computes and sets heading a 2D vector */
void _updateAvoidanceWaypoints(); /**< fill desired_waypoints with the triplets. */
matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
matrix::Vector3f _prev_wp{}; /**< Previous waypoint (local frame). If no previous triplet is available, the prev_wp is set to current position. */