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Use new Vector4 class

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This commit is contained in:
Matthias Grob
2023-03-21 15:01:26 +01:00
parent 08d6465ce5
commit b0189d95af
12 changed files with 32 additions and 56 deletions
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src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
+4 -4
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@@ -59,8 +59,8 @@ public:
bool isAvailable() { return _input_available; };
// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
const matrix::Vector<float, 4> &getPosition() { return _positions; }; // Raw stick position, no deadzone
const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
const matrix::Vector4f &getPosition() { return _positions; }; // Raw stick position, no deadzone
const matrix::Vector4f &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
// Helper functions to get stick values more intuitively
float getRoll() const { return _positions(1); }
@@ -90,8 +90,8 @@ public:
private:
bool _input_available{false};
matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
matrix::Vector4f _positions; ///< unmodified manual stick inputs
matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};