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FlightTask: added setter for yawspeed and removed newlines in comments

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Matthias Grob 2017-11-20 14:01:49 +01:00 committed by Beat Küng
parent dd53d1df5f
commit 9fdb3ace0c
1 changed files with 7 additions and 12 deletions
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19
src/lib/FlightTasks/tasks/FlightTask.hpp
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@ -99,26 +99,21 @@ protected:
matrix::Vector3f _velocity; /**< current vehicle velocity */
float _yaw = 0.f;
/**
* Put the position vector produced by the task into the setpoint message
*/
/* Put the position vector produced by the task into the setpoint message */
void _set_position_setpoint(const matrix::Vector3f &position_setpoint) { position_setpoint.copyToRaw(&_vehicle_local_position_setpoint.x); }
/**
* Put the velocity vector produced by the task into the setpoint message
*/
/* Put the velocity vector produced by the task into the setpoint message */
void _set_velocity_setpoint(const matrix::Vector3f &velocity_setpoint) { velocity_setpoint.copyToRaw(&_vehicle_local_position_setpoint.vx); }
/**
* Put the acceleration vector produced by the task into the setpoint message
*/
/* Put the acceleration vector produced by the task into the setpoint message */
void _set_acceleration_setpoint(const matrix::Vector3f &acceleration_setpoint) { acceleration_setpoint.copyToRaw(&_vehicle_local_position_setpoint.acc_x); }
/**
* Put the yaw angle produced by the task into the setpoint message
*/
/* Put the yaw angle produced by the task into the setpoint message */
void _set_yaw_setpoint(const float &yaw) { _vehicle_local_position_setpoint.yaw = yaw; };
/* Put the yaw anglular rate produced by the task into the setpoint message */
void _set_yawspeed_setpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; };
private:
uORB::Subscription<vehicle_local_position_s> _sub_vehicle_local_position;