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FlightTaskManual/Alt/Position: update comments

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This commit is contained in:
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/FlightTaskManualPosition.hpp
+9 -9
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@@ -32,9 +32,9 @@
****************************************************************************/
/**
* @file FlightTaskOrbit.hpp
* @file FlightTaskManualPosition.hpp
*
* Flight task for manual controlled position.
* Flight task for manual position controlled mode.
*
*/
@@ -54,18 +54,18 @@ public:
bool update() override;
protected:
matrix::Vector2f _vel_sp_xy{}; /* Scaled velocity setpoint from stick. NAN during position lock. */
matrix::Vector2f _pos_sp_xy{}; /* Position setpoint during lock. Otherwise NAN.*/
matrix::Vector2f _pos_sp_xy_lock{}; /* Position setpoint during lock */
matrix::Vector2f _vel_sp_xy{}; /**< Scaled velocity setpoint from stick. NAN during position lock. */
matrix::Vector2f _pos_sp_xy{}; /**< Position setpoint during lock. Otherwise NAN.*/
matrix::Vector2f _pos_sp_xy_lock{}; /**< Position setpoint during lock */
control::BlockParamFloat _vel_xy_manual_max; /**< maximum speed allowed horizontally */
control::BlockParamFloat _acc_xy_max;
control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally, */
control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time. */
void updateSetpoints() override;
void scaleSticks() override;
private:
void updateXYsetpoints();
float _lock_time_max{0.0f}; /**< defines time when position lock occurs */
float _lock_time{0.0f}; /**< time after stick are at zero position */
float _lock_time_max{0.0f}; /**< Defines time when position lock occurs. */
float _lock_time{0.0f}; /**< Time passed when stick are at zero position. */
};