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split logic into simpler functions

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This commit is contained in:
Alessandro Simovic
2023-03-31 19:06:00 +02:00
parent d20429a72a
commit 7801806b1c
2 changed files with 144 additions and 95 deletions
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src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.hpp
+9 -2
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@@ -92,6 +92,15 @@ private:
bool precision_target_available();
void generate_setpoints();
void generate_pos_xy_setpoints();
void generate_pos_z_setpoints();
void generate_vel_setpoints();
void generate_acc_setpoints();
void generate_yaw_setpoint();
void check_state_transitions();
PRECLAND_STATE _precland_state;
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
@@ -106,6 +115,4 @@ private:
matrix::Vector3f _initial_position;
orb_advert_t _mavlink_log_pub{nullptr};
matrix::Vector3f _precision_target_ned = {NAN, NAN, NAN};
};