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mc_pos_control: enable yawspeed execution for tasks

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Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent a896332746
commit 975ac11635
2 changed files with 8 additions and 3 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+2 -1
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@@ -81,9 +81,10 @@ private:
control::BlockParamFloat _z_vel_max_down; /**< maximal vertical velocity when flying downwards with the stick */
control::BlockParamFloat _hold_max_xy; /**< velocity threshold to switch into horizontal position hold */
control::BlockParamFloat _hold_max_z; /**< velocity threshold to switch into vertical position hold */
control::BlockParamFloat _man_yaw_max; /**< maximal rotation speed around yaw axis with full stick input */
matrix::Vector3f _hold_position; /**< position at which the vehicle stays while the input is zero velocity */
float _hold_yaw; /**< absolute yaw which gets updated by the yawspeed input */
float _hold_yaw = 0.f; /**< absolute yaw which gets updated by the yawspeed input */
void _updateYaw();