From 962c2eff61742d13d5e505f319e823c334ed254a Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Thu, 26 Apr 2018 11:22:18 +0200
Subject: [PATCH] FlightTask: rename mehtod and add default parameter for
 constraints

---
 src/lib/FlightTasks/tasks/FlightTask.cpp | 11 ++++++-----
 src/lib/FlightTasks/tasks/FlightTask.hpp | 25 +++++++++---------------
 2 files changed, 15 insertions(+), 21 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index 6a43dd6e5e..38f1877dea 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -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());
 }
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 62755b386b..f1e6545ba6 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -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
+				       )
 };