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FlightTask: comment fixes

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent c6b5731086
commit e2ac12ef2c
6 changed files with 23 additions and 36 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+19 -20
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -45,7 +45,9 @@
#include <uORB/topics/position_setpoint.h>
#include <lib/geo/geo.h>
/* This enum has to agree with position_setpoint_s type definition */
/* This enum has to agree with position_setpoint_s type definition
* The only reason for not using the struct position_setpoint is because
* of the size */
enum class WaypointType : int {
position = 0,
velocity,
@@ -69,27 +71,24 @@ public:
bool updateInitialize() override;
protected:
matrix::Vector3f _prev_prev_wp{}; /**< Triplet previous-previous triplet. This will be used for smoothing trajectories -> not used yet. */
matrix::Vector3f _prev_wp{}; /**< Triplet previous setpoint in local frame. If not previous triplet is available, the prev_wp is set to current position. */
matrix::Vector3f _target{}; /**< Triplet target setpoint in local frame. */
matrix::Vector3f _next_wp{}; /**< Triplet setpoint in local frame. If no next setpoint is available, next is set to target. */
float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
to triplet waypoint. This way it would be easy for multicopter to implement features where yaw does not matter. */
float _mc_cruise_speed{0.0f}; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
matrix::Vector3f _prev_wp{}; /**< Previous waypoint (local frame). If no previous triplet is available, the prev_wp is set to current position. */
matrix::Vector3f _target{}; /**< Target waypoint (local frame).*/
matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Currently it is not a yaw-waypoint, but rather a yaw setpoint at each time stamp. */
float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
private:
control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed*/
map_projection_reference_s _reference; /**< Reference frame from global to local */
control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed.*/
map_projection_reference_s _reference; /**< Reference frame from global to local. */
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame */
float _reference_altitude = 0.0f; /**< Altitude relative to ground */
hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update */
map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
float _reference_altitude = 0.0f; /**< Altitude relative to ground. */
hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
bool _evaluateTriplets(); /**< Checks and sets triplets */
bool _isFinite(const position_setpoint_s sp);
void _updateReference();
void _evaluateVehicleGlobalPosition(); /**< Required for reference update */
bool _evaluateTriplets(); /**< Checks and sets triplets. */
bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
void _updateReference(); /**< Updates the local reference. */
void _evaluateVehicleGlobalPosition(); /**< Checks if global position is valid. */
};