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FlightTaskAuto: move in members from FlightTaskAutoLineSmoothVel

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This commit is contained in:
Matthias Grob
2021-11-16 10:08:47 +01:00
parent 33e349d71e
commit 50e13f132f
4 changed files with 19 additions and 25 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+3 -1
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@@ -43,7 +43,9 @@ using namespace matrix;
static constexpr float SIGMA_NORM = 0.001f;
FlightTaskAuto::FlightTaskAuto() :
_obstacle_avoidance(this)
_obstacle_avoidance(this),
_sticks(this),
_stick_acceleration_xy(this)
{
}
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+15
View File
@@ -47,6 +47,10 @@
#include <uORB/topics/vehicle_status.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <lib/motion_planning/PositionSmoothing.hpp>
#include "Sticks.hpp"
#include "StickAccelerationXY.hpp"
#include "StickYaw.hpp"
// TODO: make this switchable in the board config, like a module
#if CONSTRAINED_FLASH
@@ -119,6 +123,17 @@ protected:
ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
PositionSmoothing _position_smoothing;
Vector3f _unsmoothed_velocity_setpoint;
Sticks _sticks;
StickAccelerationXY _stick_acceleration_xy;
StickYaw _stick_yaw;
matrix::Vector3f _land_position;
float _land_heading;
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
bool _is_emergency_braking_active{false};
bool _want_takeoff{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)