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FlightTasks: use .xy() where possible

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to take the first two elements of a Vector3f.
This commit is contained in:
Matthias Grob
2021-02-10 15:56:58 +01:00
parent 7686533abb
commit 82d6cc3dba
5 changed files with 10 additions and 11 deletions
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src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+3 -3
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@@ -51,7 +51,7 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin
_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
} else {
_velocity_setpoint.xy() = Vector2f(_velocity);
_velocity_setpoint.xy() = _velocity.xy();
}
_stick_acceleration_xy.resetPosition();
@@ -70,7 +70,7 @@ bool FlightTaskManualAcceleration::update()
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
Vector2f(_velocity_setpoint_feedback), _deltatime);
_velocity_setpoint_feedback.xy(), _deltatime);
_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
_constraints.want_takeoff = _checkTakeoff();
@@ -84,5 +84,5 @@ void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
{
_stick_acceleration_xy.resetVelocity(Vector2f(_velocity));
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}