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FlightTaskOffboard: enable triplet type takeoff, land etc

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 1099dd8c7d
commit 740f1f284f
2 changed files with 96 additions and 19 deletions
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src/lib/FlightTasks/tasks/FlightTaskOffboard.hpp
+9
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@@ -49,7 +49,16 @@ public:
virtual ~FlightTaskOffboard() = default;
bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
bool update() override;
bool activate() override;
protected:
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
private:
matrix::Vector3f _position_lock{};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
(ParamFloat<px4::params::MPC_TKO_SPEED>) MPC_TKO_SPEED,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) MIS_TAKEOFF_ALT
)
};