fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 02:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTasks: replace setpoint setters with members

Browse Source 
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
This commit is contained in:
Matthias Grob
2018-02-28 09:30:20 +01:00
committed by Beat Küng
parent e15240d3ad
commit 309237c4a2
6 changed files with 51 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTask.cpp
+24 -1
View File
@@ -16,13 +16,13 @@ bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
bool FlightTask::activate()
{
_resetSetpoints();
_time_stamp_activate = hrt_absolute_time();
return true;
}
bool FlightTask::updateInitialize()
{
_resetSetpoint();
_time_stamp_current = hrt_absolute_time();
_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
_deltatime = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;
@@ -30,6 +30,29 @@ bool FlightTask::updateInitialize()
return _evaluateVehiclePosition();
}
const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
{
/* fill position setpoint message */
vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
vehicle_local_position_setpoint.timestamp = hrt_absolute_time();
_position_setpoint.copyToRaw(&vehicle_local_position_setpoint.x);
_velocity_setpoint.copyToRaw(&vehicle_local_position_setpoint.vx);
_acceleration_setpoint.copyToRaw(&vehicle_local_position_setpoint.acc_x);
_thrust_setpoint.copyTo(vehicle_local_position_setpoint.thrust);
vehicle_local_position_setpoint.yaw = _yaw_setpoint;
vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;
return vehicle_local_position_setpoint;
}
void FlightTask::_resetSetpoints()
{
_position_setpoint *= NAN;
_velocity_setpoint *= NAN;
_acceleration_setpoint *= NAN;
_thrust_setpoint *= NAN;
_yaw_setpoint = _yawspeed_setpoint = NAN;
}
bool FlightTask::_evaluateVehiclePosition()
{
if ((_time_stamp_current - _sub_vehicle_local_position->get().timestamp) < _timeout) {