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PositionControl: auto takeoff with constant speed

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PositionControl: remove takeoff logic

mc_pos_control: takeoff logic for flighttask

mc_pos_control: smooth takeoff throttle start at 0
This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 6e62beb560
commit 558a0f892c
2 changed files with 1 additions and 56 deletions
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src/modules/mc_pos_control/PositionControl.hpp
+1 -6
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@@ -64,8 +64,7 @@ public:
~PositionControl() {};
void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot,
const bool smooth_takeoff);
void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot);
void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
void updateConstraints(const Controller::Constraints &constraints);
void generateThrustYawSetpoint(const float &dt);
@@ -75,7 +74,6 @@ public:
float getYawspeedSetpoint() {return _yawspeed_sp;}
matrix::Vector3f getVelSp() {return _vel_sp;}
matrix::Vector3f getPosSp() {return _pos_sp;}
bool getSmoothTakeoff() {return _smooth_takeoff;};
private:
@@ -93,9 +91,6 @@ private:
matrix::Vector3f _thr_sp{};
float _yaw_sp{};
float _yawspeed_sp{};
float _takeoff_vel_sp = 0.5f; // starts positive (NED frame)
float _takeoff_max_speed = 1.0f;
bool _smooth_takeoff{false};
/* Other variables */
matrix::Vector3f _thr_int{};