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FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight

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it's a draft and only works for velocity setpoints oriented in NED frame yet

# Conflicts:
#	src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent a9d0990bb8
commit 28f4d18062
5 changed files with 153 additions and 14 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+9 -5
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file FlightTaskOrbit.h
* @file FlightTaskOrbit.hpp
*
* Flight task for orbiting in a circle around a target position
*
@@ -63,7 +63,11 @@ public:
* Call once on the event of switching away from the task
* @return 0 on success, >0 on error otherwise
*/
virtual int disable() { return 0; };
virtual int disable()
{
FlightTask::disable();
return 0;
};
/**
* Call regularly in the control loop cycle to execute the task
@@ -73,11 +77,11 @@ public:
{
FlightTask::update();
r += _sticks(1) * _deltatime;
r += _sticks(0) * _deltatime;
r = math::constrain(r, 0.5f, 4.f);
v -= _sticks(0) * _deltatime;
v -= _sticks(1) * _deltatime;
v = math::constrain(v, -7.f, 7.f);
altitude += _sticks(3) * _deltatime;
altitude += _sticks(2) * _deltatime;
altitude = math::constrain(altitude, 2.f, 5.f);
matrix::Vector2<float> target_to_position = matrix::Vector2f(_position.data()) - matrix::Vector2f();