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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/Transition/FlightTaskTransition.cpp
+3 -3
View File
@@ -70,14 +70,14 @@ void FlightTaskTransition::updateParameters()
}
}
bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
bool FlightTaskTransition::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTask::activate(last_setpoint);
_vel_z_filter.setParameters(math::constrain(_deltatime, 0.01f, 0.1f), _vel_z_filter_time_const);
if (PX4_ISFINITE(last_setpoint.vz)) {
_vel_z_filter.reset(last_setpoint.vz);
if (PX4_ISFINITE(last_setpoint.velocity[2])) {
_vel_z_filter.reset(last_setpoint.velocity[2]);
} else {
_vel_z_filter.reset(_velocity(2));
src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.hpp
+1 -1
View File
@@ -54,7 +54,7 @@ public:
FlightTaskTransition();
virtual ~FlightTaskTransition() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool activate(const trajectory_setpoint_s &last_setpoint) override;
bool updateInitialize() override;
bool update() override;