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FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold

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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/FlightTaskManualPosition.hpp
+5 -5
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@@ -54,12 +54,12 @@ public:
bool update() override;
protected:
matrix::Vector2f _vel_sp_xy{}; /**< Scaled velocity setpoint from stick. NAN during position lock. */
matrix::Vector2f _pos_sp_xy{}; /**< Position setpoint during lock. Otherwise NAN.*/
matrix::Vector2f _vel_sp_xy{}; /**< Scaled velocity setpoint from stick. NAN during position lock */
matrix::Vector2f _pos_sp_xy{}; /**< Position setpoint during lock. Otherwise NAN */
control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally, */
control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time. */
control::BlockParamFloat _vel_xy_dz; /**< velocity threshold/deadzone to switch into horizontal position hold */
control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally */
control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time */
control::BlockParamFloat _vel_hold_thr_xy; /**< velocity threshold to switch back into horizontal position hold */
void _updateXYlock(); /**< Applies positon lock based on stick and velocity */
void _updateSetpoints() override;