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Separate message for trajectory setpoint

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This commit is contained in:
Matthias Grob
2022-05-12 17:19:48 +02:00
parent 9166b6953d
commit 8ca28f3796
41 changed files with 126 additions and 137 deletions
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src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+4 -4
View File
@@ -43,21 +43,21 @@ FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
_stick_acceleration_xy(this)
{};
bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
bool FlightTaskManualAcceleration::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
_stick_acceleration_xy.resetPosition();
if (PX4_ISFINITE(last_setpoint.vx) && PX4_ISFINITE(last_setpoint.vy)) {
_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy));
if (PX4_ISFINITE(last_setpoint.velocity[0]) && PX4_ISFINITE(last_setpoint.velocity[1])) {
_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.velocity));
} else {
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}
if (PX4_ISFINITE(last_setpoint.acceleration[0]) && PX4_ISFINITE(last_setpoint.acceleration[1])) {
_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration));
}
return ret;
src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+1 -1
View File
@@ -49,7 +49,7 @@ class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
public:
FlightTaskManualAcceleration();
virtual ~FlightTaskManualAcceleration() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool activate(const trajectory_setpoint_s &last_setpoint) override;
bool update() override;
/**