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FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override

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This commit is contained in:
Matthias Grob
2022-04-12 16:45:46 +02:00
committed by Roman Bapst
parent 68cf686892
commit 97b2947416
2 changed files with 6 additions and 5 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+5 -4
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@@ -81,7 +81,7 @@ bool FlightTaskAuto::activate(const vehicle_local_position_setpoint_s &last_setp
_yaw_sp_prev = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
_updateTrajConstraints();
_is_emergency_braking_active = false;
_commanded_speed_ts = 0;
_time_last_cruise_speed_override = 0;
return ret;
}
@@ -226,7 +226,7 @@ bool FlightTaskAuto::update()
void FlightTaskAuto::overrideCruiseSpeed(const float cruise_speed_m_s)
{
_mc_cruise_speed = cruise_speed_m_s;
_commanded_speed_ts = hrt_absolute_time();
_time_last_cruise_speed_override = hrt_absolute_time();
}
void FlightTaskAuto::_prepareLandSetpoints()
@@ -354,8 +354,9 @@ bool FlightTaskAuto::_evaluateTriplets()
// Prioritize cruise speed from the triplet when it's valid and more recent than the previously commanded cruise speed
const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
if (PX4_ISFINITE(cruise_speed_from_triplet) && cruise_speed_from_triplet >= 0
&& _sub_triplet_setpoint.get().current.timestamp > _commanded_speed_ts) {
if (PX4_ISFINITE(cruise_speed_from_triplet)
&& (cruise_speed_from_triplet > 0.f)
&& (_sub_triplet_setpoint.get().current.timestamp > _time_last_cruise_speed_override)) {
_mc_cruise_speed = cruise_speed_from_triplet;
}