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mc_pos_control: enable flight tasks

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instantiate flight tasks and the refactored position controller class
only use the new functionality if a temporary parameter is set for testing
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 0dcad42f57
commit dc60bc8766
2 changed files with 225 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+12
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@@ -589,3 +589,15 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
/**
* Flag to test flight tasks instead of legacy functionality
* Temporary Parameter during the transition to flight tasks
*
* @min 0
* @max 1
* @value 0 Legacy Functionality
* @value 1 Test flight tasks
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_FLT_TSK, 0);