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Trajectory - format style

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This commit is contained in:
bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent aa586ca327
commit d9edcfdc06
3 changed files with 11 additions and 5 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+2 -1
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@@ -147,7 +147,8 @@ public:
*/
virtual void setYawHandler(WeatherVane *ext_yaw_handler) {};
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
protected:
src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+8 -3
View File
@@ -102,13 +102,16 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
* is used to set current velocity of the trajectory.
*/
Vector2f sticks_expo_xy = Vector2f(&_sticks_expo(0));
if (sticks_expo_xy.length() > FLT_EPSILON) {
if (_position_lock_xy_active) {
_smoothing[0].setCurrentVelocity(_velocity_setpoint_feedback(0)); // Start the trajectory at the current velocity setpoint
_smoothing[0].setCurrentVelocity(_velocity_setpoint_feedback(
0)); // Start the trajectory at the current velocity setpoint
_smoothing[1].setCurrentVelocity(_velocity_setpoint_feedback(1));
_position_setpoint_xy_locked(0) = NAN;
_position_setpoint_xy_locked(1) = NAN;
}
_position_lock_xy_active = false;
}
@@ -130,13 +133,15 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
// Check for position lock transition
Vector2f accel_setpoint_xy_smooth = Vector2f(&accel_sp_smooth(0));
if (vel_xy_sp_smooth.length() < 0.002f &&
accel_setpoint_xy_smooth.length() < .2f &&
sticks_expo_xy.length() <= FLT_EPSILON) {
accel_setpoint_xy_smooth.length() < .2f &&
sticks_expo_xy.length() <= FLT_EPSILON) {
if (!_position_lock_xy_active) {
_position_setpoint_xy_locked(0) = pos_sp_smooth(0);
_position_setpoint_xy_locked(1) = pos_sp_smooth(1);
}
_position_lock_xy_active = true;
}
src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
+1 -1
View File
@@ -220,7 +220,7 @@ void VelocitySmoothing::integrate(float &accel_setpoint_smooth, float &vel_setpo
integrate(_dt, accel_setpoint_smooth, vel_setpoint_smooth, pos_setpoint_smooth);
}
void VelocitySmoothing::integrate(float dt,float &accel_setpoint_smooth, float &vel_setpoint_smooth,
void VelocitySmoothing::integrate(float dt, float &accel_setpoint_smooth, float &vel_setpoint_smooth,
float &pos_setpoint_smooth)
{
/* Integrate the trajectory */