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FlightTaskManualAltitude: update comments

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This commit is contained in:
Dennis Mannhart
2018-04-25 10:23:40 +02:00
committed by Lorenz Meier
parent 19bd7a9163
commit 63871bb4a5
2 changed files with 21 additions and 20 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+11 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -42,19 +42,18 @@ using namespace matrix;
void FlightTaskManualAltitude::_scaleSticks()
{
/* Reuse same scaling as for stabilized */
// reuse same scaling as for stabilized
FlightTaskManualStabilized::_scaleSticks();
/* Scale horizontal velocity with expo curve stick input*/
// scale horizontal velocity with expo curve stick input
const float vel_max_z = (_sticks(2) > 0.0f) ? _limits.speed_dn_max : _limits.speed_up_max;
_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
}
void FlightTaskManualAltitude::_updateAltitudeLock()
{
/* Depending on stick inputs and velocity, position is locked.
* If not locked, altitude setpoint is set to NAN.
*/
// Depending on stick inputs and velocity, position is locked.
// If not locked, altitude setpoint is set to NAN.
// check if user wants to break
const bool apply_brake = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
@@ -102,7 +101,7 @@ void FlightTaskManualAltitude::_terrain_following(bool apply_brake, bool stopped
{
if (apply_brake && stopped && !PX4_ISFINITE(_dist_to_ground_lock)) {
// User wants to break and vehicle reached zero velocity. Lock height height to ground.
// User wants to break and vehicle reached zero velocity. Lock height to ground.
// lock position
_position_setpoint(2) = _position(2);
@@ -130,11 +129,11 @@ void FlightTaskManualAltitude::_updateSetpoints()
_thrust_setpoint *= NAN; // Don't need thrust setpoint from Stabilized mode.
/* Thrust in xy are extracted directly from stick inputs. A magnitude of
* 1 means that maximum thrust along xy is required. A magnitude of 0 means no
* thrust along xy is required. The maximum thrust along xy depends on the thrust
* setpoint along z-direction, which is computed in PositionControl.cpp.
*/
// Thrust in xy are extracted directly from stick inputs. A magnitude of
// 1 means that maximum thrust along xy is demanded. A magnitude of 0 means no
// thrust along xy is demanded. The maximum thrust along xy depends on the thrust
// setpoint along z-direction, which is computed in PositionControl.cpp.
Vector2f sp{_sticks(0), _sticks(1)};
_rotateIntoHeadingFrame(sp);
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+10 -8
View File
@@ -49,6 +49,9 @@ public:
virtual ~FlightTaskManualAltitude() = default;
protected:
void _updateSetpoints() override; /**< updates all setpoints */
void _scaleSticks() override; /**< scales sticks to velocity in z */
/**
* Check and sets for position lock.
* If sticks are at center position, the vehicle
@@ -56,14 +59,6 @@ protected:
*/
void _updateAltitudeLock();
void _respectMinAltitude();
/**
*
*/
void _updateSetpoints() override; /**< updates all setpoints */
void _scaleSticks() override; /**< scales sticks to velocity in z */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) MPC_HOLD_MAX_Z,
(ParamFloat<px4::params::SENS_FLOW_MINRNG>) SENS_FLOW_MINRNG,
@@ -88,4 +83,11 @@ private:
*/
void _terrain_following(bool apply_brake, bool stopped);
/**
* Minimum Altitude during range sensor operation.
* If a range sensor is used for altitude estimates, for
* best operation a minimum altitude is required. The minimum
* altitude is only enforced during altitude lock.
*/
void _respectMinAltitude();
};