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GotoControl: simplify configuration wrapping

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This commit is contained in:
Matthias Grob
2023-11-23 12:03:42 +01:00
parent 439d6c61e0
commit 96a81c22e3
4 changed files with 51 additions and 90 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+2 -11
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@@ -132,12 +132,7 @@ private:
.landed = true,
};
enum SetpointInterface {
kTrajectory = 0,
kGoto
} _last_active_setpoint_interface{kTrajectory};
GotoControl _goto_control;
GotoControl _goto_control{this};
DEFINE_PARAMETERS(
// Position Control
@@ -188,11 +183,7 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MPC_YAWAAUTO_MAX>) _param_mpc_yawaauto_max,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */