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Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK

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This commit is contained in:
bresch 2019-04-15 12:07:20 +02:00
parent 226f3c0999
commit 93d52581ef
2 changed files with 2 additions and 10 deletions
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11
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
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@ -63,13 +63,6 @@ void FlightTaskAutoLineSmoothVel::reActivate()
// flight task is always reset.
}
void FlightTaskAutoLineSmoothVel::_setDefaultConstraints()
{
FlightTaskAuto::_setDefaultConstraints();
_constraints.speed_xy = _param_mpc_xy_vel_max.get(); // TODO : Should be computed using heading
}
void FlightTaskAutoLineSmoothVel::_generateSetpoints()
{
_prepareSetpoints();
@ -206,8 +199,8 @@ void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
// Update the constraints of the trajectories
_trajectory[0].setMaxAccel(_param_mpc_acc_hor_max.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxAccel(_param_mpc_acc_hor_max.get());
_trajectory[0].setMaxVel(_constraints.speed_xy);
_trajectory[1].setMaxVel(_constraints.speed_xy);
_trajectory[0].setMaxVel(_param_mpc_xy_vel_max.get());
_trajectory[1].setMaxVel(_param_mpc_xy_vel_max.get());
_trajectory[0].setMaxJerk(_param_mpc_jerk_min.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxJerk(_param_mpc_jerk_min.get());
_trajectory[2].setMaxJerk(_param_mpc_jerk_min.get());

1
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@ -66,7 +66,6 @@ protected:
);
void _generateSetpoints() override; /**< Generate setpoints along line. */
void _setDefaultConstraints() override;
inline float _constrainOneSide(float val, float constrain);
void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */