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move takeoff state machine flight_mode_manager -> mc_pos_control

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Daniel Agar
2021-03-03 18:53:56 +01:00
committed by Matthias Grob
parent 823c6078d9
commit 266ea377da
20 changed files with 288 additions and 279 deletions
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src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
+1 -4
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@@ -6,7 +6,7 @@ constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, {}};
const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
bool FlightTask::activate(const vehicle_local_position_setpoint_s &last_setpoint)
@@ -172,9 +172,6 @@ void FlightTask::_setDefaultConstraints()
_constraints.speed_xy = _param_mpc_xy_vel_max.get();
_constraints.speed_up = _param_mpc_z_vel_max_up.get();
_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
_constraints.tilt = NAN;
_constraints.min_distance_to_ground = NAN;
_constraints.max_distance_to_ground = NAN;
_constraints.want_takeoff = false;
}
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+3
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@@ -227,6 +227,9 @@ protected:
float _dist_to_bottom{}; /**< current height above ground level */
float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
float _min_distance_to_ground{-INFINITY}; /**< min distance to ground constraint */
float _max_distance_to_ground{INFINITY}; /**< max distance to ground constraint */
/**
* Setpoints which the position controller has to execute.
* Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time.