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FlightTaskManualPosition: adjust scale based on vehicle maximum allowed speed sent by estimator

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 66d5f2ffd2
commit 9df337e243
2 changed files with 29 additions and 4 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+4 -2
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@@ -58,7 +58,9 @@ protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(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
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) MPC_HOLD_MAX_XY,
(ParamFloat<px4::params::MPC_ACC_HOR_FLOW>) MPC_ACC_HOR_FLOW
)
private:
float _velocity_scale; //scales the stick input to velocity
};