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FlightTask: rename mehtod and add default parameter for constraints

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This commit is contained in:
Dennis Mannhart 2018-04-26 11:22:18 +02:00 committed by Lorenz Meier
parent edb2e3256f
commit 962c2eff61
2 changed files with 15 additions and 21 deletions
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11
src/lib/FlightTasks/tasks/FlightTask.cpp
View File

@ -17,7 +17,7 @@ bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
bool FlightTask::activate()
{
_resetSetpoints();
_updateSetpointLimits();
_setDefaultConstraints();
_time_stamp_activate = hrt_absolute_time();
return true;
}
@ -75,9 +75,10 @@ bool FlightTask::_evaluateVehicleLocalPosition()
}
}
void FlightTask::_updateSetpointLimits()
void FlightTask::_setDefaultConstraints()
{
_limits.speed_NE_max = MPC_XY_VEL_MAX.get();
_limits.speed_up_max = MPC_Z_VEL_MAX_UP.get();
_limits.speed_dn_max = MPC_Z_VEL_MAX_DN.get();
_constraints.speed_xy = MPC_XY_VEL_MAX.get();
_constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
_constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
}

25
src/lib/FlightTasks/tasks/FlightTask.hpp
View File

@ -55,7 +55,10 @@ class FlightTask : public ModuleParams
public:
FlightTask() :
ModuleParams(nullptr)
{ _resetSetpoints(); }
{
_resetSetpoints();
_constraints = empty_constraints;
}
virtual ~FlightTask() = default;
@ -124,7 +127,6 @@ public:
protected:
uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
/**
@ -132,25 +134,15 @@ protected:
*/
void _resetSetpoints();
/**
* Update Flighttask limits
*/
void virtual _updateSetpointLimits();
/*
* Check and update local position
*/
bool _evaluateVehicleLocalPosition();
/**
* @brief Setpoint limits
* Set constraints to default values
*/
struct Limits {
float speed_NE_max = 1.0f; /**< maximum speed in NE-direction */
float speed_up_max = 1.0f; /**< maximum speed upwards */
float speed_dn_max = 1.0f; /**< maximum speed downwards */
};
Limits _limits;
virtual void _setDefaultConstraints();
/* Time abstraction */
static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
@ -190,6 +182,7 @@ protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP
);
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) MPC_TILTMAX_AIR
)
};