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transition flighttask: don't control yaw and altitude during trans

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Signed-off-by: RomanBapst <bapstroman@gmail.com>

# Conflicts:
#	src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
This commit is contained in:
RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent b6a80253d7
commit baf5e86f81
2 changed files with 4 additions and 3 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+4 -2
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@@ -61,9 +61,11 @@ void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &set
bool FlightTaskTransition::update() bool FlightTaskTransition::update()
{ {
// level wings during the transition, altitude should be controlled // level wings during the transition, altitude should be controlled
_position_setpoint(2) = _transition_altitude;
_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f); _acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
_position_setpoint *= NAN;
_velocity_setpoint(2) = 0.0f;
_position_setpoint(2) = NAN;
_yaw_setpoint = _transition_yaw; _yaw_setpoint = NAN;
return true; return true;
} }
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
-1
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@@ -53,7 +53,6 @@ public:
private: private:
void checkSetpoints(vehicle_local_position_setpoint_s &setpoints); void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
void updateAccelerationEstimate();
float _transition_altitude = 0.0f; float _transition_altitude = 0.0f;
float _transition_yaw = 0.0f; float _transition_yaw = 0.0f;