fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 08:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

flight_mode_manager: pass deltas on estimator reset

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
+2 -2
View File
@@ -69,12 +69,12 @@ void FlightTaskManualAltitudeSmoothVel::reActivate()
_smoothing.reset(0.f, 0.f, _position(2));
}
void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ()
void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
{
_smoothing.setCurrentPosition(_position(2));
}
void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ()
void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
{
_smoothing.setCurrentVelocity(_velocity(2));
}
src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
+2 -2
View File
@@ -55,8 +55,8 @@ protected:
virtual void _updateSetpoints() override;
/** Reset position or velocity setpoints in case of EKF reset event */
void _ekfResetHandlerPositionZ() override;
void _ekfResetHandlerVelocityZ() override;
void _ekfResetHandlerPositionZ(float delta_z) override;
void _ekfResetHandlerVelocityZ(float delta_vz) override;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,