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FlightTaskStraightLine: replace define with parameter

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This commit is contained in:
ChristophTobler
2018-07-23 12:54:39 +02:00
committed by ChristophTobler
parent ebceac5fff
commit 37d4f714b2
2 changed files with 3 additions and 3 deletions
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src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+1 -2
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@@ -39,7 +39,6 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <float.h> #include <float.h>
#define ACC_RAD_ZERO_VEL 2.0f
#define VEL_ZERO_THRESHOLD 0.001f #define VEL_ZERO_THRESHOLD 0.001f
#define DECELERATION_MAX 8.0f #define DECELERATION_MAX 8.0f
@@ -56,7 +55,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
{ {
// Check if target position has been reached // Check if target position has been reached
if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD && if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
(_pos - _target).length() < ACC_RAD_ZERO_VEL)) { (_pos - _target).length() < NAV_ACC_RAD.get())) {
// Vehicle has reached target. Lock position // Vehicle has reached target. Lock position
position_setpoint = _target; position_setpoint = _target;
velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f); velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+2 -1
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@@ -104,7 +104,8 @@ private:
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX, /**< maximum vertical acceleration downwards*/ (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX, /**< maximum vertical acceleration downwards*/
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX, /**< maximum horizontal velocity */ (ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX, /**< maximum horizontal velocity */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP, /**< maximum vertical velocity upwards */ (ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP, /**< maximum vertical velocity upwards */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN /**< maximum vertical velocity downwards */ (ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN, /**< maximum vertical velocity downwards */
(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD /**< acceptance radius if a waypoint is reached */
) )
}; };