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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/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+4 -4
View File
@@ -73,22 +73,22 @@ void FlightTaskManualPositionSmoothVel::reActivate()
_smoothing_z.reset(0.f, 0.f, _position(2));
}
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionXY()
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
{
_smoothing_xy.setCurrentPosition(_position.xy());
}
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityXY()
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
{
_smoothing_xy.setCurrentVelocity(_velocity.xy());
}
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionZ()
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
{
_smoothing_z.setCurrentPosition(_position(2));
}
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityZ()
void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
{
_smoothing_z.setCurrentVelocity(_velocity(2));
}
src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
+4 -4
View File
@@ -61,10 +61,10 @@ protected:
virtual void _updateSetpoints() override;
/** 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;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,