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PositionControl: correct float initialization literals

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according to @bresch's review
This commit is contained in:
Matthias Grob
2019-11-20 11:42:09 +01:00
parent bd491c8511
commit 1bef35d843
2 changed files with 59 additions and 59 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+13 -13
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@@ -153,13 +153,13 @@ public:
* Set the integral term in xy to 0.
* @see _thr_int
*/
void resetIntegralXY() { _thr_int(0) = _thr_int(1) = 0.0f; }
void resetIntegralXY() { _thr_int(0) = _thr_int(1) = 0.f; }
/**
* Set the integral term in z to 0.
* @see _thr_int
*/
void resetIntegralZ() { _thr_int(2) = 0.0f; }
void resetIntegralZ() { _thr_int(2) = 0.f; }
/**
* Get the
@@ -216,21 +216,21 @@ private:
matrix::Vector3f _gain_vel_d; ///< Velocity control derivative gain
// Limits
float _lim_vel_horizontal{0}; ///< Horizontal velocity limit with feed forward and position control
float _lim_vel_up{0}; ///< Upwards velocity limit with feed forward and position control
float _lim_vel_down{0}; ///< Downwards velocity limit with feed forward and position control
float _lim_thr_min{0}; ///< Minimum collective thrust allowed as output [-1,0] e.g. -0.9
float _lim_thr_max{0}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1
float _lim_tilt{0}; ///< Maximum tilt from level the output attitude is allowed to have
float _lim_vel_horizontal{}; ///< Horizontal velocity limit with feed forward and position control
float _lim_vel_up{}; ///< Upwards velocity limit with feed forward and position control
float _lim_vel_down{}; ///< Downwards velocity limit with feed forward and position control
float _lim_thr_min{}; ///< Minimum collective thrust allowed as output [-1,0] e.g. -0.9
float _lim_thr_max{}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1
float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
float _hover_thrust{0}; ///< Thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation
float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation
// States
matrix::Vector3f _pos; /**< position */
matrix::Vector3f _vel; /**< velocity */
matrix::Vector3f _pos; /**< current position */
matrix::Vector3f _vel; /**< current velocity */
matrix::Vector3f _vel_dot; /**< velocity derivative (replacement for acceleration estimate) */
matrix::Vector3f _thr_int; /**< integral term of the velocity controller */
float _yaw = 0.0f; /**< yaw */
float _yaw{}; /**< current heading */
vehicle_constraints_s _constraints{}; /**< variable constraints */
@@ -239,7 +239,7 @@ private:
matrix::Vector3f _vel_sp; /**< desired velocity */
matrix::Vector3f _acc_sp; /**< desired acceleration */
matrix::Vector3f _thr_sp; /**< desired thrust */
float _yaw_sp{}; /**< desired yaw */
float _yaw_sp{}; /**< desired heading */
float _yawspeed_sp{}; /** desired yaw-speed */
bool _skip_controller{false}; /**< skips position/velocity controller. true for stabilized mode */