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FlightTaskManualStabilized: replace limit with new member constraints structure

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This commit is contained in:
Dennis Mannhart
2018-04-26 11:25:25 +02:00
committed by Lorenz Meier
parent dbb222e6ed
commit 6f704bd1e4
1 changed files with 4 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+4 -2
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@@ -42,8 +42,10 @@ using namespace matrix;
bool FlightTaskManualStabilized::activate()
{
bool ret = FlightTaskManual::activate();
_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
return FlightTaskManual::activate();
_constraints.tilt = math::radians(_tilt_max_man.get());
return ret;
}
void FlightTaskManualStabilized::_scaleSticks()
@@ -76,7 +78,7 @@ void FlightTaskManualStabilized::_updateThrustSetpoints()
_rotateIntoHeadingFrame(sp);
/* Ensure that maximum tilt is in [0.001, Pi] */
float tilt_max = math::constrain(math::radians(_tilt_max_man.get()), 0.001f, M_PI_F);
float tilt_max = math::constrain(_constraints.tilt, 0.001f, M_PI_F);
const float x = sp(0) * tilt_max;
const float y = sp(1) * tilt_max;