fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 03:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskOrbit: replace sticks (which are now linear) with expo

Browse Source
This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent e076825d78
commit 4dfd9ce8ed
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+3 -3
View File
@@ -78,11 +78,11 @@ bool FlightTaskOrbit::activate()
bool FlightTaskOrbit::update() bool FlightTaskOrbit::update()
{ {
_r += _sticks(0) * _deltatime; _r += _sticks_expo(0) * _deltatime;
_r = math::constrain(_r, 1.f, 20.f); _r = math::constrain(_r, 1.f, 20.f);
_v -= _sticks(1) * _deltatime; _v -= _sticks_expo(1) * _deltatime;
_v = math::constrain(_v, -7.f, 7.f); _v = math::constrain(_v, -7.f, 7.f);
_z += _sticks(2) * _deltatime; _z += _sticks_expo(2) * _deltatime;
Vector2f center_to_position = Vector2f(_position.data()) - _center; Vector2f center_to_position = Vector2f(_position.data()) - _center;