fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-15 13:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTask: use copyToRaw matrix method in setpoint setters

Browse Source
This commit is contained in:
Matthias Grob
2017-11-20 11:21:38 +01:00
committed by Beat Küng
parent 919d0d6483
commit dd53d1df5f
1 changed files with 3 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTask.hpp
+3 -18
View File
@@ -102,32 +102,17 @@ protected:
/**
* Put the position vector produced by the task into the setpoint message
*/
void _set_position_setpoint(const matrix::Vector3f &position_setpoint)
{
_vehicle_local_position_setpoint.x = position_setpoint(0);
_vehicle_local_position_setpoint.y = position_setpoint(1);
_vehicle_local_position_setpoint.z = position_setpoint(2);
}
void _set_position_setpoint(const matrix::Vector3f &position_setpoint) { position_setpoint.copyToRaw(&_vehicle_local_position_setpoint.x); }
/**
* Put the velocity vector produced by the task into the setpoint message
*/
void _set_velocity_setpoint(const matrix::Vector3f &velocity_setpoint)
{
_vehicle_local_position_setpoint.vx = velocity_setpoint(0);
_vehicle_local_position_setpoint.vy = velocity_setpoint(1);
_vehicle_local_position_setpoint.vz = velocity_setpoint(2);
}
void _set_velocity_setpoint(const matrix::Vector3f &velocity_setpoint) { velocity_setpoint.copyToRaw(&_vehicle_local_position_setpoint.vx); }
/**
* Put the acceleration vector produced by the task into the setpoint message
*/
void _set_acceleration_setpoint(const matrix::Vector3f &acceleration_setpoint)
{
_vehicle_local_position_setpoint.acc_x = acceleration_setpoint(0);
_vehicle_local_position_setpoint.acc_y = acceleration_setpoint(1);
_vehicle_local_position_setpoint.acc_z = acceleration_setpoint(2);
}
void _set_acceleration_setpoint(const matrix::Vector3f &acceleration_setpoint) { acceleration_setpoint.copyToRaw(&_vehicle_local_position_setpoint.acc_x); }
/**
* Put the yaw angle produced by the task into the setpoint message