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FlightTasks: refactor NAN initializations, spacing

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This commit is contained in:
Matthias Grob
2019-12-18 15:57:48 +01:00
parent ab4473319a
commit 1a5b06d0cf
7 changed files with 32 additions and 39 deletions
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src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
+5 -5
View File
@@ -105,11 +105,11 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
void FlightTask::_resetSetpoints()
{
_position_setpoint.setAll(NAN);
_velocity_setpoint.setAll(NAN);
_acceleration_setpoint.setAll(NAN);
_jerk_setpoint.setAll(NAN);
_thrust_setpoint.setAll(NAN);
_position_setpoint.setNaN();
_velocity_setpoint.setNaN();
_acceleration_setpoint.setNaN();
_jerk_setpoint.setNaN();
_thrust_setpoint.setNaN();
_yaw_setpoint = _yawspeed_setpoint = NAN;
}
src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
+19 -20
View File
@@ -168,10 +168,9 @@ public:
const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
protected:
uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<vehicle_attitude_s> _sub_attitude{ORB_ID(vehicle_attitude)};
uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};
uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<vehicle_attitude_s> _sub_attitude{ORB_ID(vehicle_attitude)};
uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};
/** Reset all setpoints to NAN */
void _resetSetpoints();
@@ -201,18 +200,18 @@ protected:
/* Time abstraction */
static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
float _time = 0; /**< passed time in seconds since the task was activated */
float _deltatime = 0; /**< passed time in seconds since the task was last updated */
hrt_abstime _time_stamp_activate = 0; /**< time stamp when task was activated */
hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
float _time{}; /**< passed time in seconds since the task was activated */
float _deltatime{}; /**< passed time in seconds since the task was last updated */
hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */
hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */
hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */
/* Current vehicle state */
matrix::Vector3f _position; /**< current vehicle position */
matrix::Vector3f _velocity; /**< current vehicle velocity */
float _yaw = 0.f; /**< current vehicle yaw heading */
float _dist_to_bottom = 0.f; /**< current height above ground level */
float _dist_to_ground = 0.f; /**< equals _dist_to_bottom if valid, height above home otherwise */
float _yaw{}; /**< current vehicle yaw heading */
float _dist_to_bottom{}; /**< current height above ground level */
float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
/**
* Setpoints which the position controller has to execute.
@@ -227,20 +226,20 @@ protected:
matrix::Vector3f _acceleration_setpoint;
matrix::Vector3f _jerk_setpoint;
matrix::Vector3f _thrust_setpoint;
float _yaw_setpoint;
float _yawspeed_setpoint;
float _yaw_setpoint{};
float _yawspeed_setpoint{};
matrix::Vector3f _velocity_setpoint_feedback;
matrix::Vector3f _thrust_setpoint_feedback;
/* Counters for estimator local position resets */
struct {
uint8_t xy = 0;
uint8_t vxy = 0;
uint8_t z = 0;
uint8_t vz = 0;
uint8_t quat = 0;
} _reset_counters;
uint8_t xy;
uint8_t vxy;
uint8_t z;
uint8_t vz;
uint8_t quat;
} _reset_counters{};
/**
* Vehicle constraints.