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FlightTaskManual: Smooth flight integration: Make set_manual_acceleration_z without any refactoring compile

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analyzing detailed semantic and external uses of the variables still necessary
This commit is contained in:
Matthias Grob 2017-09-26 13:58:30 +02:00 committed by Beat Küng
parent 316e85f7ef
commit 5854fa06e9
1 changed files with 5 additions and 1 deletions
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6
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
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@ -63,6 +63,8 @@ public:
_deceleration_hor_slow(parent, "MPC_DEC_HOR_SLOW", false),
_acceleration_hor_max(this, "ACC_HOR_MAX", true),
_acceleration_hor_manual(this, "ACC_HOR_MAN", true),
_acceleration_z_max_up(this, "ACC_UP_MAX", true),
_acceleration_z_max_down(this, "ACC_DOWN_MAX", true),
_manual_direction_change_hysteresis(false),
_filter_manual_pitch(50.0f, 10.0f),
_filter_manual_roll(50.0f, 10.0f)
@ -180,6 +182,8 @@ private:
control::BlockParamFloat _deceleration_hor_slow; /**< slow velocity setpoint slewrate for manual deceleration*/
control::BlockParamFloat _acceleration_hor_max; /**< maximum velocity setpoint slewrate for auto & fast manual brake */
control::BlockParamFloat _acceleration_hor_manual; /**< maximum velocity setpoint slewrate for manual acceleration */
control::BlockParamFloat _acceleration_z_max_up; /**< max acceleration up */
control::BlockParamFloat _acceleration_z_max_down; /**< max acceleration down */
matrix::Vector2f _stick_input_xy_prev;
matrix::Vector3f _vel_sp_prev;
enum manual_stick_input {
@ -438,7 +442,7 @@ private:
_acceleration_state_dependent_z = _acceleration_z_max_down.get();
/* reset slew rate */
_vel_sp_prev(2) = _vel(2);
_vel_sp_prev(2) = _velocity(2);
_user_intention_z = brake;
}