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FlightTaskManual: Smooth flight integration: Make vel_sp_slewrate without any refactoring compile

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analyzing detailed semantic and external uses of the variables still necessary
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 1b858f5e56
commit 1f65717292
1 changed files with 3 additions and 8 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+3 -8
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@@ -202,11 +202,11 @@ private:
math::LowPassFilter2p _filter_manual_pitch;
math::LowPassFilter2p _filter_manual_roll;
void vel_sp_slewrate(float dt)
void vel_sp_slewrate(float dt, matrix::Vector3f &_vel_sp)
{
matrix::Vector2f vel_sp_xy(_vel_sp(0), _vel_sp(1));
matrix::Vector2f vel_sp_prev_xy(_vel_sp_prev(0), _vel_sp_prev(1));
matrix::Vector2f vel_xy(_vel(0), _vel(1));
matrix::Vector2f vel_xy(_velocity(0), _velocity(1));
matrix::Vector2f acc_xy = (vel_sp_xy - vel_sp_prev_xy) / dt;
/* limit total horizontal acceleration */
@@ -220,12 +220,7 @@ private:
float acc_z = (_vel_sp(2) - _vel_sp_prev(2)) / dt;
float max_acc_z;
if (_control_mode.flag_control_manual_enabled) {
max_acc_z = (acc_z < 0.0f) ? -_acceleration_state_dependent_z : _acceleration_state_dependent_z;
} else {
max_acc_z = (acc_z < 0.0f) ? -_acceleration_z_max_up.get() : _acceleration_z_max_down.get();
}
max_acc_z = (acc_z < 0.0f) ? -_acceleration_state_dependent_z : _acceleration_state_dependent_z;
if (fabsf(acc_z) > fabsf(max_acc_z)) {
_vel_sp(2) = max_acc_z * dt + _vel_sp_prev(2);