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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/Orbit/FlightTaskOrbit.cpp
+3 -3
View File
@@ -158,7 +158,7 @@ void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
}
}
bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_setpoint)
bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
_orbit_radius = _radius_min;
@@ -176,8 +176,8 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
&& PX4_ISFINITE(_velocity(1))
&& PX4_ISFINITE(_velocity(2));
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 pos_prev{last_setpoint.position};
Vector3f vel_prev{last_setpoint.velocity};
Vector3f accel_prev{last_setpoint.acceleration};
for (int i = 0; i < 3; i++) {
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+1 -1
View File
@@ -57,7 +57,7 @@ public:
virtual ~FlightTaskOrbit() = default;
bool applyCommandParameters(const vehicle_command_s &command) override;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool activate(const trajectory_setpoint_s &last_setpoint) override;
bool update() override;
protected: