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FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 6fb9ca3b0c
commit d22af4679d
4 changed files with 10 additions and 10 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+2 -2
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@@ -44,7 +44,7 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
FlightTaskManualStabilized(parent, name),
_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_vel_z_dz(parent, "MPC_HOLD_MAX_Z", false)
_vel_hold_thr_z(parent, "MPC_HOLD_MAX_Z", false)
{}
@@ -73,7 +73,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
/* handle position and altitude hold */
const bool apply_brake_z = fabsf(_vel_sp_z) <= FLT_EPSILON;
const bool stopped_z = (_vel_z_dz.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_z_dz.get());
const bool stopped_z = (_vel_hold_thr_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_hold_thr_z.get());
if (apply_brake_z && stopped_z && !PX4_ISFINITE(_pos_sp_z)) {
_pos_sp_z = _position(2);