FlightTaskManual: remove stick_deadzone because base class already has it.

Remove deadzone check for vel in xy/z because expo already contains deadzone

src/lib/FlightTasks/tasks/FlightTaskManual.cpp

@@ -48,11 +48,9 @@ using namespace matrix;
 
 FlightTaskManual::FlightTaskManual(control::SuperBlock *parent, const char *name) :
 	FlightTask(parent, name),
-	_z_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
-	_z_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
+	_hold_dz(parent, "MPC_HOLD_DZ", false),
 	_xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false),
-	_z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false),
-	_hold_dz(parent, "MPC_HOLD_DZ", false)
+	_z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false)
 {
 }
 
@@ -126,15 +124,6 @@ void FlightTaskManual::_updateYaw()
 	_setYawSetpoint(_hold_yaw);
 }
 
-void FlightTaskManual::_scaleVelocity(Vector3f &velocity)
-{
-	const Vector3f velocity_scale(_velocity_hor_manual.get(),
-				      _velocity_hor_manual.get(),
-				      (velocity(2) > 0.0f) ? _z_vel_max_down.get() : _z_vel_max_up.get());
-
-	velocity = velocity.emult(velocity_scale);
-}
-
 bool FlightTaskManual::_evaluateSticks()
 {
 	if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < _timeout) {

src/lib/FlightTasks/tasks/FlightTaskManual.hpp

@@ -68,6 +68,7 @@ protected:
 	bool _sticks_data_required = true; /**< let sibling task define if it depends on stick data */
 	matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
 	matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
+	control::BlockParamFloat _hold_dz; /**< deadzone around the center for the sticks when flying in position mode */
 
 private:
 
@@ -75,7 +76,6 @@ private:
 
 	control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
 	control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
-	control::BlockParamFloat _hold_dz; /**< deadzone around the center for the sticks when flying in position mode */
 
 
 	bool _evaluateSticks(); /**< checks and sets stick inputs */

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp

@@ -51,9 +51,7 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
 	_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
 	_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
 	_acc_max_up(parent, "MPC_ACC_UP_MAX", false),
-	_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false),
-	_stick_deadzone(parent, "MPC_HOLD_DZ", false)
-
+	_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false)
 {}
 
 bool FlightTaskManualAltitude::activate()
@@ -79,7 +77,7 @@ void FlightTaskManualAltitude::scaleSticks()
 
 void FlightTaskManualAltitude::updateHeadingSetpoints()
 {
-	if (fabsf(_sticks(3)) < _stick_deadzone.get()) {
+	if (fabsf(_sticks(3)) < _hold_dz.get()) {
 		/* Want to hold yaw */
 		_yaw_rate_sp = NAN;
 		_yaw_sp = _yaw_sp_predicted;
@@ -93,7 +91,7 @@ void FlightTaskManualAltitude::updateHeadingSetpoints()
 
 void FlightTaskManualAltitude::updateZsetpoints()
 {
-	if (fabsf(_sticks(2)) < _stick_deadzone.get()) {
+	if (fabsf(_sticks_expo(2)) < FLT_EPSILON) {
 
 		/* Want to hold altitude */
 

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp

@@ -66,7 +66,6 @@ protected:
 	control::BlockParamFloat _yaw_rate_scaling; /**< scaling factor from stick to yaw rate */
 	control::BlockParamFloat _acc_max_up; /**< maximum acceleration upward */
 	control::BlockParamFloat _acc_max_down; /**< maximum acceleration downward */
-	control::BlockParamFloat _stick_deadzone; /**< stick is considered zero if below deadzone */
 
 	virtual void updateSetpoints(); /**< updates all setpoints */
 	virtual void scaleSticks(); /**< scales sticks to velocity */

src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp

@@ -85,7 +85,7 @@ void FlightTaskManualPosition::updateXYsetpoints()
 {
 	matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
 
-	if (stick_xy.length() < _stick_deadzone.get()) {
+	if (stick_xy.length() < FLT_EPSILON) {
 
 		/* Want to hold position */
 		if (_lock_time <= _lock_time_max) {