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trajectory-planning: Added option for PositionSmoothing library with single target waypoint that disables L1 guidance

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This commit is contained in:
Thomas Debrunner
2021-10-20 15:59:52 +02:00
committed by Daniel Agar
parent 77af102cab
commit ade4a1930c
3 changed files with 55 additions and 12 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+1 -3
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@@ -282,9 +282,7 @@ void FlightTaskOrbit::_generate_circle_approach_setpoints()
const Vector3f target_circle_point{closest_point_on_circle(0), closest_point_on_circle(1), _center(2)};
PositionSmoothing::PositionSmoothingSetpoints out_setpoints;
_position_smoothing.generateSetpoints(_position, {
_circle_approach_start_position, target_circle_point, target_circle_point
},
_position_smoothing.generateSetpoints(_position, target_circle_point,
{0.f, 0.f, 0.f}, _deltatime, false, out_setpoints);
_yaw_setpoint = atan2f(position_to_center_xy(1), position_to_center_xy(0));