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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/FlightTaskSport.hpp
+4 -16
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@@ -53,23 +53,11 @@ public:
virtual ~FlightTaskSport() = default;
protected:
void _updateSetpoints() override
void _updateSetpointLimits() override
{
FlightTaskManualPosition::_updateSetpoints(); // get all setpoints from position task
FlightTaskManualPosition::_updateSetpointLimits();
/* Scale horizontal velocity setpoint by maximum allowed velocity. */
if (PX4_ISFINITE(_velocity_setpoint(0)) && Vector2f(&_velocity_setpoint(0)).length() > 0.0f) {
Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
vel_sp_xy = vel_sp_xy.normalized() * _vel_xy_max.get() / _vel_xy_manual_max.get() * vel_sp_xy.length();
_velocity_setpoint(0) = vel_sp_xy(0);
_velocity_setpoint(1) = vel_sp_xy(1);
}
// for sport mode we just increase horizontal speed to maximum speed
_limits.speed_NE_max = MPC_XY_VEL_MAX.get();
}
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
(ParamFloat<px4::params::MPC_XY_VEL_MAX>)
_vel_xy_max /**< maximal allowed horizontal speed, in sport mode full stick input*/
)
};