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FlightTasks: added wrappers for filling setpoint vectors, made time dependent example

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 93ae260f44
commit c21c36dd8d
3 changed files with 39 additions and 13 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+11 -3
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@@ -53,7 +53,11 @@ public:
* Call once on the event where you switch to the task
* @return 0 on success, >0 on error otherwise
*/
virtual int activate() { return 0; };
virtual int activate()
{
_set_position_setpoint(matrix::Vector3f());
return 0;
};
/**
* Call once on the event of switching away from the task
@@ -66,8 +70,12 @@ public:
* @param TODO
* @return 0 on success, >0 on error otherwise
*/
virtual int update(manual_control_setpoint_s *manual_control_setpoint,
vehicle_local_position_s *vehicle_local_position) { return 0; };
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));
return 0;
};
private: