From 7d7a2dffbfa5c32a80ae225cb4ef5ff8cbef55f0 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Thu, 26 Apr 2018 15:01:08 +0200
Subject: [PATCH] Smoothing-classes: initialize to parameters

---
 src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp | 8 ++------
 src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp | 8 ++++----
 src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp  | 3 ++-
 src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp  | 4 ++--
 4 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
index 4a4d728637..cc47883adf 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
@@ -41,19 +41,15 @@
 #include <float.h>
 
 ManualSmoothingXY::ManualSmoothingXY(ModuleParams *parent, const matrix::Vector2f &vel) :
-	ModuleParams(parent),
-	_vel_sp_prev(vel)
-{
-}
+	ModuleParams(parent), _acc_state_dependent(_acc_xy_max.get()), _jerk_state_dependent(_jerk_max.get()), _vel_sp_prev(vel)
+{}
 
 void
 ManualSmoothingXY::smoothVelocity(matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
 				  const float &yawrate_sp, const float dt)
 {
 	_updateAcceleration(vel_sp, vel, yaw, yawrate_sp, dt);
-
 	_velocitySlewRate(vel_sp, dt);
-
 	_vel_sp_prev = vel_sp;
 }
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
index a768ae806e..024b4dde6a 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
@@ -103,17 +103,17 @@ private:
 	/* Acceleration that depends on vehicle state
 	 * _acc_max_down <= _acc_state_dependent <= _acc_max_up
 	 */
-	float _acc_state_dependent{0.0f};
-	float _jerk_state_dependent{0.0f};
+	float _acc_state_dependent;
+	float _jerk_state_dependent;
 
 	/**
 	 * Maximum velocity.
 	 * It is used to deduce user intention.
 	 */
-	float _vel_max{0.0f};
+	float _vel_max{10.0f};
 
 	/* Previous setpoints */
-	matrix::Vector2f _vel_sp_prev{}; // previous velocity setpoint
+	matrix::Vector2f _vel_sp_prev; // previous velocity setpoint
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_hover, ///< acceleration in hover
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
index da98c06904..6cf941f603 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
@@ -42,7 +42,8 @@
 
 ManualSmoothingZ::ManualSmoothingZ(ModuleParams *parent, const float &vel, const float &stick) :
 	ModuleParams(parent),
-	_vel(vel), _stick(stick), _vel_sp_prev(vel)
+	_vel(vel), _stick(stick), _acc_state_dependent(_acc_max_up.get()), _max_acceleration(_acc_max_up.get()),
+	_vel_sp_prev(vel)
 {
 }
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
index a5d7c1da31..12858c9eea 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
@@ -92,9 +92,9 @@ private:
 	/* Acceleration that depends on vehicle state
 	 * _acc_max_down <= _acc_state_dependent <= _acc_max_up
 	 */
-	float _acc_state_dependent{0.0f};
+	float _acc_state_dependent;
+	float _max_acceleration; // can be up or down maximum accleration
 	float _vel_sp_prev;
-	float _max_acceleration{0.f};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,