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FlightTasks: added access to prepared velocity state for every task

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Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 8da1d3b16e
commit 37cb8c1a59
2 changed files with 19 additions and 12 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+6 -3
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@@ -73,10 +73,12 @@ public:
{
FlightTask::update();
r += _sticks(1) * _deltatime;
vu += _sticks(0) * _deltatime;
printf("%f %f %f\n", (double)_deltatime, (double)r, (double)vu);
vu += _sticks(0) * 0.1f * _deltatime;
altitude += _sticks(3) * _deltatime;
//printf("%f %f %f\n", (double)altitude, (double)r, (double)vu);
//printf("%f %f %f\n", (double)_position(0), (double)_position(1), (double)_position(2));
printf("%f %f %f\n", (double)_velocity(0), (double)_velocity(1), (double)_velocity(2));
float v = 2 * M_PI_F * vu; /* velocity for orbiting in radians per second */
float altitude = 2; /* altitude in meters */
_set_position_setpoint(matrix::Vector3f(r * cosf(v * _time), r * sinf(v * _time), -altitude));
return 0;
};
@@ -85,5 +87,6 @@ private:
float r = 2.f; /* radius with which to orbit the target */
float vu = 0.1f; /* velocity for orbiting in revolutions per second */
float altitude = 2; /* altitude in meters */
};