Trajectory - Add position lock-unlock logic and proper initialization from controller feedback

2026-10-20 14:03:34 +08:00 · 2018-11-06 22:17:00 +01:00
parent 84665672ad
commit 6a7ce651bc
7 changed files with 59 additions and 18 deletions
@@ -65,4 +65,6 @@ private:

 	VelocitySmoothing _smoothing[3]; ///< Smoothing in x, y and z directions
 	matrix::Vector3f _vel_sp_smooth;
+	bool _position_lock_xy_active{false};
+	matrix::Vector2f _position_setpoint_xy_locked;
 };