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FlightTaskManualPosition: make position lock simpler; add underline for protected/private

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 24b5d30a0a
commit 72624e14cb
2 changed files with 34 additions and 64 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+4 -6
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@@ -56,16 +56,14 @@ public:
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 */
control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally, */
control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time. */
control::BlockParamFloat _vel_xy_dz; /**< velocity threshold/deadzone to switch into horizontal position hold */
void updateSetpoints() override;
void scaleSticks() override;
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 passed when stick are at zero position. */
void _updateXYsetpoints();
};