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FlightTasks: added timer in base class that counts from activation on including possibility to reset in subclass

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent c21c36dd8d
commit b52f541492
3 changed files with 19 additions and 7 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+3 -3
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@@ -55,7 +55,7 @@ public:
*/
virtual int activate()
{
_set_position_setpoint(matrix::Vector3f());
FlightTask::activate();
return 0;
};
@@ -72,8 +72,8 @@ public:
*/
virtual int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_position)
{
float time = hrt_absolute_time() / 1e6;
_set_position_setpoint(matrix::Vector3f(0.1f * time, 0.f, -2.f));
FlightTask::update(NULL, NULL);
_set_position_setpoint(matrix::Vector3f(0.1f * _get_time(), 0.f, -2.f));
return 0;
};