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FlightTask: introduce method for limits and adjust accordingly for all the tasks

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 73b4f452cc
commit 97be84b0e4
11 changed files with 111 additions and 73 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+2 -2
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@@ -46,7 +46,7 @@ void FlightTaskManualAltitude::_scaleSticks()
FlightTaskManualStabilized::_scaleSticks();
/* Scale horizontal velocity with expo curve stick input*/
const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
const float vel_max_z = (_sticks(2) > 0.0f) ? _limits.speed_dn_max : _limits.speed_up_max;
_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
}
@@ -58,7 +58,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
/* handle position and altitude hold */
const bool apply_brake_z = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
const bool stopped_z = (_vel_hold_thr_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_hold_thr_z.get());
const bool stopped_z = (MPC_HOLD_MAX_Z.get() < FLT_EPSILON || fabsf(_velocity(2)) < MPC_HOLD_MAX_Z.get());
if (apply_brake_z && stopped_z && !PX4_ISFINITE(_position_setpoint(2))) {
_position_setpoint(2) = _position(2);