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PositionControl: replace overwrite with ModuleParams updateParams method

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This commit is contained in:
Dennis Mannhart
2018-04-11 14:59:11 +02:00
committed by Lorenz Meier
parent 6d716f2d26
commit 89c0259b2a
2 changed files with 9 additions and 3 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+5 -3
View File
@@ -277,9 +277,11 @@ void PositionControl::updateConstraints(const Controller::Constraints &constrain
}
}
void PositionControl::overwriteParams()
void PositionControl::updateParams()
{
ModuleParams::updateParams();
// Tilt needs to be in radians
MPC_TILTMAX_AIR.set(math::radians(MPC_TILTMAX_AIR.get()));
MPC_MAN_TILT_MAX.set(math::radians(MPC_MAN_TILT_MAX.get()));
MPC_TILTMAX_AIR_rad.set(math::radians(MPC_TILTMAX_AIR_rad.get()));
MPC_MAN_TILT_MAX_rad.set(math::radians(MPC_MAN_TILT_MAX_rad.get()));
}
src/modules/mc_pos_control/PositionControl.hpp
+4
View File
@@ -167,6 +167,10 @@ public:
*/
matrix::Vector3f getPosSp() {return _pos_sp;}
protected:
void updateParams() override;
private:
void _interfaceMapping(); /** maps set-points to internal member set-points */
void _positionController(); /** applies the P-position-controller */