fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 11:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTask: Add interface for landing gear

Browse Source
This commit is contained in:
Simone Guscetti
2018-11-01 17:43:49 +01:00
committed by Dennis Mannhart
parent 6938b7fe02
commit bf9a18a200
2 changed files with 17 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+2 -2
View File
@@ -6,7 +6,8 @@ constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}};
const landing_gear_s FlightTask::landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
@@ -148,7 +149,6 @@ void FlightTask::_setDefaultConstraints()
_constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
_constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
_constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
_constraints.min_distance_to_ground = NAN;
_constraints.max_distance_to_ground = NAN;
}