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FlightTaskAutoMapper: move parameters into FlightTaskAutoLineSmooth

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This commit is contained in:
Matthias Grob 2021-11-10 21:42:17 +01:00
parent 59a395f6a0
commit a94c61b896
2 changed files with 12 additions and 16 deletions
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14
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@ -102,13 +102,23 @@ protected:
float _land_heading;
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
);
};

14
src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp
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@ -48,18 +48,4 @@ public:
FlightTaskAutoMapper() = default;
virtual ~FlightTaskAutoMapper() = default;
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
);
};