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flight_mode_manager: pass deltas on estimator reset

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This commit is contained in:
Daniel Agar
2021-07-19 09:34:07 -04:00
parent d79eea0c41
commit 87610957a4
10 changed files with 32 additions and 32 deletions
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src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+4 -4
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@@ -87,24 +87,24 @@ void FlightTaskAutoLineSmoothVel::reActivate()
* Those functions are called by the base FlightTask in
* case of an EKF reset event
*/
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY()
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
{
_trajectory[0].setCurrentPosition(_position(0));
_trajectory[1].setCurrentPosition(_position(1));
}
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY()
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
{
_trajectory[0].setCurrentVelocity(_velocity(0));
_trajectory[1].setCurrentVelocity(_velocity(1));
}
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ()
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
{
_trajectory[2].setCurrentPosition(_position(2));
}
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ()
void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
{
_trajectory[2].setCurrentVelocity(_velocity(2));
}
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+4 -4
View File
@@ -55,10 +55,10 @@ public:
protected:
/** Reset position or velocity setpoints in case of EKF reset event */
void _ekfResetHandlerPositionXY() override;
void _ekfResetHandlerVelocityXY() override;
void _ekfResetHandlerPositionZ() override;
void _ekfResetHandlerVelocityZ() override;
void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
void _ekfResetHandlerPositionZ(float delta_z) override;
void _ekfResetHandlerVelocityZ(float delta_vz) override;
void _ekfResetHandlerHeading(float delta_psi) override;
void _generateSetpoints() override; /**< Generate setpoints along line. */