fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 09:50:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameter update - Rename variables in lib

Browse Source 
using paramter_update.py script
This commit is contained in:
bresch
2019-03-20 10:28:17 +01:00
committed by Matthias Grob
parent ec5da55107
commit b14446f0e5
40 changed files with 245 additions and 231 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+8 -8
View File
@@ -121,21 +121,21 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
FlightTaskManualPosition::_updateSetpoints();
/* Update constraints */
_smoothing[0].setMaxAccel(MPC_ACC_HOR_MAX.get());
_smoothing[1].setMaxAccel(MPC_ACC_HOR_MAX.get());
_smoothing[0].setMaxAccel(_param_mpc_acc_hor_max.get());
_smoothing[1].setMaxAccel(_param_mpc_acc_hor_max.get());
_smoothing[0].setMaxVel(_constraints.speed_xy);
_smoothing[1].setMaxVel(_constraints.speed_xy);
if (_velocity_setpoint(2) < 0.f) { // up
_smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get());
_smoothing[2].setMaxAccel(_param_mpc_acc_up_max.get());
_smoothing[2].setMaxVel(_constraints.speed_up);
} else { // down
_smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
_smoothing[2].setMaxAccel(_param_mpc_acc_down_max.get());
_smoothing[2].setMaxVel(_constraints.speed_down);
}
float jerk[3] = {_jerk_max.get(), _jerk_max.get(), _jerk_max.get()};
float jerk[3] = {_param_mpc_jerk_max.get(), _param_mpc_jerk_max.get(), _param_mpc_jerk_max.get()};
_checkEkfResetCounters();
@@ -176,11 +176,11 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
jerk[1] = 1.f;
} else {
jerk[0] = _jerk_max.get();
jerk[1] = _jerk_max.get();
jerk[0] = _param_mpc_jerk_max.get();
jerk[1] = _param_mpc_jerk_max.get();
}
jerk[2] = _position_lock_z_active ? 1.f : _jerk_max.get();
jerk[2] = _position_lock_z_active ? 1.f : _param_mpc_jerk_max.get();
for (int i = 0; i < 3; ++i) {
_smoothing[i].setMaxJerk(jerk[i]);