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FlightTasksAuto/Line: replace BlockParams with module params

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 6cfb89a8e8
commit aef6b9216e
5 changed files with 20 additions and 36 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+6 -3
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@@ -61,7 +61,7 @@ enum class WaypointType : int {
class FlightTaskAuto : public FlightTask
{
public:
FlightTaskAuto(control::SuperBlock *parent, const char *name);
FlightTaskAuto() = default;
virtual ~FlightTaskAuto() = default;
bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
@@ -78,9 +78,12 @@ protected:
WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
private:
control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed.*/
map_projection_reference_s _reference; /**< Reference frame from global to local. */
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, (ParamFloat<px4::params::MPC_XY_CRUISE>) _mc_cruise_default); /**< Default mc cruise speed.*/
map_projection_reference_s _reference; /**< Reference frame from global to local. */
map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
float _reference_altitude = 0.0f; /**< Altitude relative to ground. */
hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */