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FlightTask StraightLine: set origin and target at the same time

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This avoids issues with reseting/calculating the max vel/acc
This commit is contained in:
ChristophTobler
2018-07-24 08:40:05 +02:00
committed by Lorenz Meier
parent 9e8c3ff0dc
commit ccd8a47015
2 changed files with 5 additions and 11 deletions
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src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+4 -9
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@@ -176,23 +176,18 @@ void StraightLine::setAllDefaults()
_desired_deceleration = DECELERATION_MAX; _desired_deceleration = DECELERATION_MAX;
} }
void StraightLine::setTarget(const matrix::Vector3f &target) void StraightLine::setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target)
{ {
if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2))) { if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2)) &&
PX4_ISFINITE(origin(0)) && PX4_ISFINITE(origin(1)) && PX4_ISFINITE(origin(2))) {
_target = target; _target = target;
_origin = origin;
// set all parameters to their default value (depends on the direction) // set all parameters to their default value (depends on the direction)
setAllDefaults(); setAllDefaults();
} }
} }
void StraightLine::setOrigin(const matrix::Vector3f &origin)
{
if (PX4_ISFINITE(origin(0)) && PX4_ISFINITE(origin(1)) && PX4_ISFINITE(origin(2))) {
_origin = origin;
}
}
void StraightLine::setSpeed(const float &speed) void StraightLine::setSpeed(const float &speed)
{ {
float vel_max = getMaxVel(); float vel_max = getMaxVel();
src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+1 -2
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@@ -51,8 +51,7 @@ public:
~StraightLine() = default; ~StraightLine() = default;
// setter functions // setter functions
void setTarget(const matrix::Vector3f &target); void setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target);
void setOrigin(const matrix::Vector3f &origin);
void setSpeed(const float &speed); void setSpeed(const float &speed);
void setSpeedAtTarget(const float &speed_at_target); void setSpeedAtTarget(const float &speed_at_target);
void setAcceleration(const float &acc); void setAcceleration(const float &acc);