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FlightTask{Altitude+Orbit}: use getter for specific stick value instead of entire array

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This commit is contained in:
Matthias Grob
2025-09-18 15:50:10 +02:00
committed by Silvan Fuhrer
parent 2bf9fce577
commit 2e910fe185
2 changed files with 8 additions and 8 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+4 -4
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@@ -292,8 +292,8 @@ void FlightTaskOrbit::_adjustParametersByStick()
switch (_yaw_behaviour) {
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE:
radius -= signFromBool(_started_clockwise) * _sticks.getPositionExpo()(1) * _deltatime * _param_mpc_xy_cruise.get();
velocity += signFromBool(_started_clockwise) * _sticks.getPositionExpo()(0) * _deltatime * _param_mpc_acc_hor.get();
radius -= signFromBool(_started_clockwise) * _sticks.getRollExpo() * _deltatime * _param_mpc_xy_cruise.get();
velocity += signFromBool(_started_clockwise) * _sticks.getPitchExpo() * _deltatime * _param_mpc_acc_hor.get();
break;
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING:
@@ -302,8 +302,8 @@ void FlightTaskOrbit::_adjustParametersByStick()
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER:
default:
// stick input adjusts parameters within a fixed time frame
radius -= _sticks.getPositionExpo()(0) * _deltatime * _param_mpc_xy_cruise.get();
velocity -= _sticks.getPositionExpo()(1) * _deltatime * _param_mpc_acc_hor.get();
radius -= _sticks.getPitchExpo() * _deltatime * _param_mpc_xy_cruise.get();
velocity -= _sticks.getRollExpo() * _deltatime * _param_mpc_acc_hor.get();
break;
}