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FlightTaskManual/Alt/Position: update comments

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Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 55b6f19367
commit 720271332d
6 changed files with 79 additions and 78 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+5 -7
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@@ -34,10 +34,8 @@
/**
* @file FlightTaskManual.hpp
*
* Flight task for the normal, manual position controlled flight
* where stick inputs map basically to the velocity setpoint
* Linear and exponential map from stick inputs to range -1 and 1.
*
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
@@ -65,17 +63,17 @@ public:
protected:
bool _sticks_data_required = true; /**< let sibling task define if it depends on stick data */
bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
control::BlockParamFloat _hold_dz; /**< deadzone around the center for the sticks when flying in position mode */
control::BlockParamFloat _hold_dz; /**< 0-deadzone around the center for the sticks */
private:
uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction */
control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in z direction */
bool _evaluateSticks(); /**< checks and sets stick inputs */