fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 16:51:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskManualAlt/Position/Sport: replace limits with constraint member structure

Browse Source
This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 6f704bd1e4
commit 9e740f1aff
5 changed files with 31 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+8 -1
View File
@@ -40,13 +40,20 @@
using namespace matrix;
bool FlightTaskManualAltitude::activate()
{
bool ret = FlightTaskManualStabilized::activate();
_setDefaultConstraints();
return ret;
}
void FlightTaskManualAltitude::_scaleSticks()
{
// reuse same scaling as for stabilized
FlightTaskManualStabilized::_scaleSticks();
// scale horizontal velocity with expo curve stick input
const float vel_max_z = (_sticks(2) > 0.0f) ? _limits.speed_dn_max : _limits.speed_up_max;
const float vel_max_z = (_sticks(2) > 0.0f) ? _constraints.speed_down : _constraints.speed_up;
_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
}