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commander add parameters for eph, epv, evh requirements

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Daniel Agar
2018-04-24 00:02:48 -04:00
parent 255cc12c48
commit b70e7433dc
3 changed files with 47 additions and 17 deletions
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src/modules/commander/Commander.hpp
+10
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@@ -87,6 +87,16 @@ public:
static bool preflight_check(bool report);
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::COM_HOME_H_T>) _home_eph_threshold,
(ParamFloat<px4::params::COM_HOME_V_T>) _home_epv_threshold,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _eph_threshold,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _epv_threshold,
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _evh_threshold,
)
bool handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd,
actuator_armed_s *armed_local, home_position_s *home, const vehicle_global_position_s &global_pos,
const vehicle_local_position_s &local_pos, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);