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FlightTaskAutoLine: move method

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This commit is contained in:
Dennis Mannhart 2018-03-01 14:39:42 +01:00 committed by Lorenz Meier
parent 3d034823b0
commit 6da47b4a85
1 changed files with 7 additions and 10 deletions
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17
src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
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@ -124,6 +124,13 @@ void FlightTaskAutoLine::_generateTakeoffSetpoints()
/* Takeoff is completely defined by target position. */
_position_setpoint = _target;
void FlightTaskAutoLine::_generateVelocitySetpoints()
{
/* TODO: Remove velocity force logic from navigator, since
* navigator should only send out waypoints. */
_position_setpoint = Vector3f(NAN, NAN, _position(2));
Vector2f vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
/* Set member setpoints to current state */
_reset();
}
@ -432,16 +439,6 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
_position_setpoint(2) = _target(2);
}
}
void FlightTaskAutoLine::_generateVelocitySetpoints()
{
/* TODO: Remove velocity force logic from navigator, since
* navigator should only send out waypoints. */
_position_setpoint = Vector3f(NAN, NAN, _position(2));
Vector2f vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
_reset();
}
float FlightTaskAutoLine::_getVelocityFromAngle(const float angle)
{