From 4b856717b7a3a51c54c8b8ca4517fa7419c15a69 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 29 Dec 2017 10:01:53 +0100 Subject: [PATCH] FlightTaskManual: replace hold_dz with stick_dz --- src/lib/FlightTasks/tasks/FlightTaskManual.cpp | 15 ++++++++------- src/lib/FlightTasks/tasks/FlightTaskManual.hpp | 2 +- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp index cba534739c..68980cfa0f 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp @@ -45,7 +45,7 @@ using namespace matrix; FlightTaskManual::FlightTaskManual(control::SuperBlock *parent, const char *name) : FlightTask(parent, name), - _hold_dz(parent, "MPC_HOLD_DZ", false), + _stick_dz(parent, "MPC_HOLD_DZ", false), _xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false), _z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false) { @@ -67,6 +67,7 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a bool FlightTaskManual::activate() { bool ret = FlightTask::activate(); + return ret; } @@ -84,9 +85,9 @@ bool FlightTaskManual::updateInitialize() bool FlightTaskManual::update() { - /* TODO - * FlightTask setpoint interface and Position Controller need to be updated to include - * thrust setpoint. With thrust setpoint FlightTaskManual can be used as manual flight mode. + /* Nothing to do. + * The only purpose of this class + * is to provide sticks to child classes. */ return true; } @@ -103,9 +104,9 @@ bool FlightTaskManual::_evaluateSticks() _sticks(3) = _sub_manual_control_setpoint->get().r; /* "yaw" [-1,1] */ /* Exponential scale */ - _sticks_expo(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _hold_dz.get()); - _sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _hold_dz.get()); - _sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _hold_dz.get()); + _sticks_expo(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _stick_dz.get()); + _sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _stick_dz.get()); + _sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _stick_dz.get()); return true; diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp index 0a53668676..903c8b3e9e 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp +++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp @@ -66,7 +66,7 @@ protected: bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */ matrix::Vector _sticks; /**< unmodified manual stick inputs */ matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/ - control::BlockParamFloat _hold_dz; /**< 0-deadzone around the center for the sticks */ + control::BlockParamFloat _stick_dz; /**< 0-deadzone around the center for the sticks */ private: