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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/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+3 -3
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@@ -38,14 +38,14 @@
using namespace matrix;
bool FlightTaskManualPositionSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
bool FlightTaskManualPositionSmoothVel::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualPosition::activate(last_setpoint);
// Check if the previous FlightTask provided setpoints
Vector3f accel_prev{last_setpoint.acceleration};
Vector3f vel_prev{last_setpoint.vx, last_setpoint.vy, last_setpoint.vz};
Vector3f pos_prev{last_setpoint.x, last_setpoint.y, last_setpoint.z};
Vector3f vel_prev{last_setpoint.velocity};
Vector3f pos_prev{last_setpoint.position};
for (int i = 0; i < 3; i++) {
// If the position setpoint is unknown, set to the current postion
src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
+1 -1
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@@ -53,7 +53,7 @@ public:
virtual ~FlightTaskManualPositionSmoothVel() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool activate(const trajectory_setpoint_s &last_setpoint) override;
void reActivate() override;
protected: