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Smoothing-classes: initialize to parameters

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 5ef2a61be5
commit 7d7a2dffbf
4 changed files with 10 additions and 13 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
+4 -4
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@@ -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