From 4eb758edf0f0b8b5fd8a2bf06778930e1f9dec3c Mon Sep 17 00:00:00 2001 From: mcsauder Date: Mon, 19 Apr 2021 12:47:10 -0600 Subject: [PATCH] Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp. --- src/modules/flight_mode_manager/CMakeLists.txt | 10 +++++----- .../tasks/FlightTask/FlightTask.cpp | 8 +++++--- .../tasks/FlightTask/FlightTask.hpp | 5 ++--- 3 files changed, 12 insertions(+), 11 deletions(-) diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt index dd9b3da41d..4b7cac1852 100644 --- a/src/modules/flight_mode_manager/CMakeLists.txt +++ b/src/modules/flight_mode_manager/CMakeLists.txt @@ -52,16 +52,16 @@ endif() # add core flight tasks to list list(APPEND flight_tasks_all + AutoFollowMe + AutoLineSmoothVel + Descend + Failsafe + ManualAcceleration ManualAltitude ManualAltitudeSmoothVel ManualPosition ManualPositionSmoothVel - AutoLineSmoothVel - AutoFollowMe - Failsafe - Descend Transition - ManualAcceleration ${flight_tasks_to_add} ) diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp index 941d05ea8e..e986db4616 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp @@ -87,11 +87,12 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint() vehicle_local_position_setpoint.vy = _velocity_setpoint(1); vehicle_local_position_setpoint.vz = _velocity_setpoint(2); - _acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration); - _jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk); vehicle_local_position_setpoint.yaw = _yaw_setpoint; vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint; + _acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration); + _jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk); + // deprecated, only kept for output logging matrix::Vector3f(NAN, NAN, NAN).copyTo(vehicle_local_position_setpoint.thrust); @@ -104,7 +105,8 @@ void FlightTask::_resetSetpoints() _velocity_setpoint.setNaN(); _acceleration_setpoint.setNaN(); _jerk_setpoint.setNaN(); - _yaw_setpoint = _yawspeed_setpoint = NAN; + _yaw_setpoint = NAN; + _yawspeed_setpoint = NAN; } void FlightTask::_evaluateVehicleLocalPosition() diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp index c42852c0c4..257ff8ae2d 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp @@ -244,15 +244,14 @@ protected: */ matrix::Vector3f _position_setpoint; matrix::Vector3f _velocity_setpoint; + matrix::Vector3f _velocity_setpoint_feedback; matrix::Vector3f _acceleration_setpoint; + matrix::Vector3f _acceleration_setpoint_feedback; matrix::Vector3f _jerk_setpoint; float _yaw_setpoint{}; float _yawspeed_setpoint{}; - matrix::Vector3f _velocity_setpoint_feedback; - matrix::Vector3f _acceleration_setpoint_feedback; - ekf_reset_counters_s _reset_counters{}; ///< Counters for estimator local position resets /**