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ManualSmoothingZ: comments cleanup and style fix

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 08dfd0c495
commit 54a5e177f3
2 changed files with 50 additions and 22 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
+10 -11
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@@ -34,7 +34,7 @@
/**
* @file ManualSmoothingZ.hpp
*
* This Class is used for smoothing the velocity setpoints in Z-direction.
* This Class is used for smoothing the velocity set-points in z-direction NED frame.
*/
#include "ManualSmoothingZ.hpp"
@@ -47,7 +47,7 @@ ManualSmoothingZ::ManualSmoothingZ(const float &vel, const float &stick) :
{
_acc_max_up_h = param_find("MPC_ACC_UP_MAX");
_acc_max_down_h = param_find("MPC_ACC_DOWN_MAX");
_jerk_max = param_find("MPC_JERK_MAX");
_jerk_max_h = param_find("MPC_JERK_MAX");
/* Load the params the very first time */
setParams();
@@ -98,23 +98,23 @@ ManualSmoothingZ::updateAcceleration(float vel_sp[2], const float dt)
const bool is_current_zero = (fabsf(_stick) <= FLT_EPSILON);
/* default is acceleration */
Intention intention = Intention::acceleration;
ManualIntentionZ intention = ManualIntentionZ::acceleration;
/* check zero input stick */
if (is_current_zero) {
intention = Intention::brake;
intention = ManualIntentionZ::brake;
}
/*
* update intention
*/
if ((_intention != Intention::brake) && (intention == Intention::brake)) {
if ((_intention != ManualIntentionZ::brake) && (intention == ManualIntentionZ::brake)) {
/* we start with lowest acceleration */
_acc_state_dependent = _acc_max_down;
/* reset slewrate: this ensures that there
* is no delay present because of the slewrate
/* reset slew-rate: this ensures that there
* is no delay present when user demands to brake
*/
vel_sp[1] = _vel;
@@ -122,7 +122,7 @@ ManualSmoothingZ::updateAcceleration(float vel_sp[2], const float dt)
}
switch (intention) {
case Intention::brake: {
case ManualIntentionZ::brake: {
/* limit jerk when braking to zero */
float jerk = (_acc_max_up - _acc_state_dependent) / dt;
@@ -137,10 +137,9 @@ ManualSmoothingZ::updateAcceleration(float vel_sp[2], const float dt)
break;
}
case Intention::acceleration: {
case ManualIntentionZ::acceleration: {
_acc_state_dependent = (getMaxAcceleration(vel_sp) - _acc_max_down)
_acc_state_dependent = (getMaxAcceleration() - _acc_max_down)
* fabsf(_stick) + _acc_max_down;
break;
}
@@ -170,7 +169,7 @@ ManualSmoothingZ::getMaxAcceleration(float vel_sp[2])
/* at rest */
return _acc_max_up;
} else if (vel_sp[0] < 0.0f ) {
} else if (vel_sp[0] < 0.0f) {
/* braking downward */
return _acc_max_down;