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mc_pos_control/PositionControl: enable thrust setpoint

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 0ca823eb30
commit a74c1116ee
3 changed files with 34 additions and 28 deletions
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src/modules/mc_pos_control/PositionControl.hpp
+2 -3
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@@ -64,8 +64,7 @@ public:
~PositionControl() {};
void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot,
const matrix::Matrix<float, 3, 3> &R);
void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot);
void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint);
void updateConstraints(const Controller::Constraints &constraints);
void generateThrustYawSetpoint(const float &dt);
@@ -84,7 +83,6 @@ private:
matrix::Vector3f _vel_dot{};
matrix::Vector3f _acc{};
float _yaw{0.0f};
matrix::Matrix<float, 3, 3> _R{};
/* Setpoints */
matrix::Vector3f _pos_sp{};
@@ -126,6 +124,7 @@ private:
float _ThrLimit[2]; //index 0: max, index 1: min
float _Pyaw{};
float _YawRateMax{};
bool _skipController{false};
/* Helper methods */
void _interfaceMapping();