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FlightTasks: move stick handling into library

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This commit is contained in:
Matthias Grob
2020-07-14 13:22:47 +02:00
committed by Julian Kent
parent 49a543e1b2
commit 9daff24e79
11 changed files with 202 additions and 105 deletions
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src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
+3 -3
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@@ -173,8 +173,8 @@ bool FlightTaskOrbit::update()
bool ret = FlightTaskManualAltitudeSmooth::update();
// stick input adjusts parameters within a fixed time frame
const float r = _r - _sticks_expo(0) * _deltatime * (_radius_max / 8.f);
const float v = _v - _sticks_expo(1) * _deltatime * (_velocity_max / 4.f);
const float r = _r - _sticks.getPositionExpo()(0) * _deltatime * (_radius_max / 8.f);
const float v = _v - _sticks.getPositionExpo()(1) * _deltatime * (_velocity_max / 4.f);
setRadius(r);
setVelocity(v);
@@ -257,7 +257,7 @@ void FlightTaskOrbit::generate_circle_yaw_setpoints(Vector2f center_to_position)
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED:
_yaw_setpoint = NAN;
_yawspeed_setpoint = _sticks_expo(3);
_yawspeed_setpoint = _sticks.getPositionExpo()(3);
break;
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER: