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FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed()

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This commit is contained in:
Matthias Grob
2022-04-12 16:40:03 +02:00
committed by Roman Bapst
parent f892a624b7
commit 68cf686892
4 changed files with 10 additions and 11 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+7 -1
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@@ -223,6 +223,12 @@ bool FlightTaskAuto::update()
return ret;
}
void FlightTaskAuto::overrideCruiseSpeed(const float cruise_speed_m_s)
{
_mc_cruise_speed = cruise_speed_m_s;
_commanded_speed_ts = hrt_absolute_time();
}
void FlightTaskAuto::_prepareLandSetpoints()
{
_velocity_setpoint.setNaN(); // Don't take over any smoothed velocity setpoint
@@ -345,7 +351,7 @@ bool FlightTaskAuto::_evaluateTriplets()
_type = (WaypointType)_sub_triplet_setpoint.get().current.type;
// Override a commanded cruise speed if the cruise speed from the triplet is valid and more recent
// Prioritize cruise speed from the triplet when it's valid and more recent than the previously commanded cruise speed
const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
if (PX4_ISFINITE(cruise_speed_from_triplet) && cruise_speed_from_triplet >= 0