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vehicle_local_position_setpoint: make acceleration and jerk arrays

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This commit is contained in:
Matthias Grob
2019-10-22 16:41:52 +02:00
parent 0062390c46
commit 9c25b987bc
9 changed files with 25 additions and 41 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+3 -9
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@@ -4,7 +4,7 @@
constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}};
const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
@@ -92,14 +92,8 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
vehicle_local_position_setpoint.vy = _velocity_setpoint(1);
vehicle_local_position_setpoint.vz = _velocity_setpoint(2);
vehicle_local_position_setpoint.acc_x = _acceleration_setpoint(0);
vehicle_local_position_setpoint.acc_y = _acceleration_setpoint(1);
vehicle_local_position_setpoint.acc_z = _acceleration_setpoint(2);
vehicle_local_position_setpoint.jerk_x = _jerk_setpoint(0);
vehicle_local_position_setpoint.jerk_y = _jerk_setpoint(1);
vehicle_local_position_setpoint.jerk_z = _jerk_setpoint(2);
_acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration);
_jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk);
_thrust_setpoint.copyTo(vehicle_local_position_setpoint.thrust);
vehicle_local_position_setpoint.yaw = _yaw_setpoint;
vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;