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

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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/FlightTaskManualPosition.hpp
+4 -6
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@@ -53,14 +53,12 @@ protected:
void _updateXYlock(); /**< applies positon lock based on stick and velocity */
void _updateSetpoints() override;
void _scaleSticks() override;
void _updateSetpointLimits() override;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _vel_xy_manual_max, /**< maximum speed allowed horizontally */
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>)
_acc_xy_max, /**< maximum acceleration horizontally. Only used to compute lock time */
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>)
_vel_hold_thr_xy /**< velocity threshold to switch back into horizontal position hold */
(ParamFloat<px4::params::MPC_VEL_MANUAL>) MPC_VEL_MANUAL,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) MPC_HOLD_MAX_XY
)
private:
};