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Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint

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This commit is contained in:
Matthias Grob
2022-10-17 16:07:11 +02:00
committed by Daniel Agar
parent 7c237fca74
commit 75c63aee2a
13 changed files with 91 additions and 157 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+3 -8
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@@ -109,8 +109,8 @@ private:
hrt_abstime _time_stamp_last_loop{0}; /**< time stamp of last loop iteration */
hrt_abstime _time_position_control_enabled{0};
vehicle_local_position_setpoint_s _setpoint {};
vehicle_control_mode_s _vehicle_control_mode {};
trajectory_setpoint_s _setpoint{PositionControl::empty_trajectory_setpoint};
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_constraints_s _vehicle_constraints {
.timestamp = 0,
@@ -223,10 +223,5 @@ private:
* Used to handle transitions where no proper setpoint was generated yet and when the received setpoint is invalid.
* This should only happen briefly when transitioning and never during mode operation or by design.
*/
vehicle_local_position_setpoint_s generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states);
/**
* Reset setpoints to NAN
*/
void reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint);
trajectory_setpoint_s generateFailsafeSetpoint(const hrt_abstime &now, const PositionControlStates &states);
};