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GotoControl: Save flash

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This commit is contained in:
Matthias Grob
2023-11-28 16:19:41 +01:00
parent 7b4712cb29
commit 8bb20db7da
8 changed files with 66 additions and 62 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+6 -2
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@@ -177,14 +177,18 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
GotoControl _goto_control{this}; ///< class for handling smooth goto position setpoints
GotoControl _goto_control; ///< class for handling smooth goto position setpoints
PositionControl _control; ///< class for core PID position control
hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */