fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 16:48:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change.

Browse Source
This commit is contained in:
Thomas Debrunner
2022-01-25 11:45:31 +01:00
committed by Matthias Grob
parent bbc2b703c3
commit 4671a741dc
2 changed files with 0 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
-9
View File
@@ -106,7 +106,6 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
if (!_is_position_on_circle()) {
_in_circle_approach = true;
_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
_circle_approach_start_position = _position;
}
return ret;
@@ -169,7 +168,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
&& PX4_ISFINITE(_velocity(2));
_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
_circle_approach_start_position = _position;
return ret;
}
@@ -193,13 +191,6 @@ bool FlightTaskOrbit::update()
_in_circle_approach = false;
_altitude_velocity_smoothing.reset(0, _velocity(2), _position(2));
}
} else {
if (!_in_circle_approach) {
_in_circle_approach = true;
_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
_circle_approach_start_position = _position;
}
}
if (_in_circle_approach) {
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
-1
View File
@@ -118,7 +118,6 @@ private:
matrix::Vector3f _center; /**< local frame coordinates of the center point */
bool _in_circle_approach = false;
Vector3f _circle_approach_start_position;
PositionSmoothing _position_smoothing;
VelocitySmoothing _altitude_velocity_smoothing;
Vector3f _unsmoothed_velocity_setpoint;