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ManualSmoothZ: move vel_sp_previous update into class

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Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent ed62056b7c
commit 5cfd93040f
4 changed files with 67 additions and 64 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
+7 -4
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@@ -60,11 +60,11 @@ public:
* vel_sp will contain smoothed current previous set-point.
* @param dt: time delta in seconds
*/
void smoothVelFromSticks(float vel_sp[2], const float dt);
void smoothVelFromSticks(float &vel_sp, const float dt);
/* Getter methods */
float getMaxAcceleration(float vel_sp[2]);
float getMaxAcceleration() {return _max_acceleration;};
ManualIntentionZ getIntention() {return _intention;};
/* Overwrite methods:
@@ -89,6 +89,8 @@ private:
* _acc_max_down <= _acc_state_dependent <= _acc_max_up
*/
float _acc_state_dependent{0.0f};
float _vel_sp_prev;
float _max_acceleration;
/* Params */
param_t _acc_max_up_h{PARAM_INVALID};
@@ -100,9 +102,10 @@ private:
int _parameter_sub{-1};
/* Helper methods */
void velocitySlewRate(float vel_sp[2], const float dt);
void velocitySlewRate(float &vel_sp, const float dt);
void setParams();
void updateParams();
void updateAcceleration(float vel_sp[2], const float dt);
void updateAcceleration(float &vel_sp, const float dt);
void setMaxAcceleration();
};