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FlightTaskManual: remove stick_deadzone because base class already has it.

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Remove deadzone check for vel in xy/z because expo already contains deadzone
This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 8da2ff4d77
commit 55b6f19367
5 changed files with 7 additions and 21 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+3 -5
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@@ -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 */