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FlightTaskManualAltitude: remove member setpoints and update method

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 4b49b0ed7a
commit c15b114cad
2 changed files with 19 additions and 35 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+6 -11
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -50,18 +50,13 @@ public:
bool activate() override;
bool update() override;
protected:
float _vel_sp_z{}; /**< Scaled velocity from stick. During altitude lock it is equal to NAN. */
float _pos_sp_z{}; /**< Setpoint in z during lock. Otherwise NAN. */
control::BlockParamFloat _vel_max_down; /**< Maximum speed allowed to go up. */
control::BlockParamFloat _vel_max_up; /**< Maximum speed allowed to go down. */
control::BlockParamFloat _vel_max_down; /**< maximum speed allowed to go up */
control::BlockParamFloat _vel_max_up; /**< maximum speed allowed to go down */
control::BlockParamFloat _vel_hold_thr_z; /**< velocity threshold to switch back into vertical position hold */
void _updateAltitudeLock(); /**< Checks for position lock. */
void _updateSetpoints() override; /**< Updates all setpoints. */
void _scaleSticks() override; /**< Scales sticks to velocity in z. */
void _updateAltitudeLock(); /**< checks for position lock */
void _updateSetpoints() override; /**< updates all setpoints */
void _scaleSticks() override; /**< scales sticks to velocity in z */
};