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FlightTaskManualStabilized: update method that sets all member setpoints

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 2db2ef824b
commit 4b49b0ed7a
2 changed files with 20 additions and 21 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+8 -5
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -51,7 +51,7 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
bool FlightTaskManualStabilized::activate()
{
_yaw_sp = NAN;
_resetToNAN();
_yaw_rate_sp = 0.0f;
_thr_sp = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
return FlightTaskManual::activate();
@@ -130,11 +130,14 @@ float FlightTaskManualStabilized::_throttleCurve()
bool FlightTaskManualStabilized::update()
{
_scaleSticks(); // scales sticks linearly to yaw/yawspeed and thrust
_updateSetpoints(); // applies yaw and position lock if required
_scaleSticks();
_updateSetpoints();
_setPositionSetpoint(_pos_sp);
_setVelocitySetpoint(_vel_sp);
_setThrustSetpoint(_thr_sp);
_setYawSetpoint(_yaw_sp);
_setYawspeedSetpoint(_yaw_rate_sp);
_setThrustSetpoint(_thr_sp);
return true;
}