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FlightTasks: generate tasks depending on target

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- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
This commit is contained in:
ChristophTobler
2018-07-31 17:21:52 +02:00
committed by Dennis Mannhart
parent 34203f7e8c
commit 8090708f76
7 changed files with 280 additions and 138 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -5
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@@ -727,11 +727,11 @@ MulticopterPositionControl::start_flight_task()
switch (MPC_POS_MODE.get()) {
case 0:
error = _flight_tasks.switchTask(FlightTaskIndex::Position);
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::PositionSmooth);
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth);
break;
case 2:
@@ -739,7 +739,7 @@ MulticopterPositionControl::start_flight_task()
break;
default:
error = _flight_tasks.switchTask(FlightTaskIndex::Position);
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
}
@@ -754,7 +754,7 @@ MulticopterPositionControl::start_flight_task()
// manual altitude control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL || task_failure) {
int error = _flight_tasks.switchTask(FlightTaskIndex::Altitude);
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
if (error != 0) {
PX4_WARN("Altitude-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
@@ -769,7 +769,7 @@ MulticopterPositionControl::start_flight_task()
// manual stabilized control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_STAB || task_failure) {
int error = _flight_tasks.switchTask(FlightTaskIndex::Stabilized);
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualStabilized);
if (error != 0) {
PX4_WARN("Stabilized-Ctrl failed with error: %s", _flight_tasks.errorToString(error));