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FlightTasks: fix review comments

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent e193240e98
commit e597a9c0a1
3 changed files with 8 additions and 8 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+2 -2
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@@ -87,7 +87,7 @@ int FlightTaskManual::update()
velocity_setpoint = velocity_setpoint.emult(vel_scale);
/* smooth out velocity setpoint by slewrate and return it */
vel_sp_slewrate(velocity_setpoint, stick_xy, _sticks(3));
vel_sp_slewrate(stick_xy, _sticks(3), velocity_setpoint);
_set_velocity_setpoint(velocity_setpoint);
/* handle position and altitude hold */
@@ -146,7 +146,7 @@ void FlightTaskManual::reset_slewrate_xy()
_vel_sp_prev(1) = _velocity(1);
}
void FlightTaskManual::vel_sp_slewrate(Vector3f &vel_sp, const Vector2f &stick_xy, const float &stick_z)
void FlightTaskManual::vel_sp_slewrate(const Vector2f &stick_xy, const float &stick_z, Vector3f &vel_sp)
{
Vector2f vel_sp_xy(vel_sp(0), vel_sp(1));
const Vector2f vel_sp_prev_xy(_vel_sp_prev(0), _vel_sp_prev(1));
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+1 -1
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@@ -133,7 +133,7 @@ private:
math::LowPassFilter2p _filter_roll_stick;
math::LowPassFilter2p _filter_pitch_stick;
void vel_sp_slewrate(matrix::Vector3f &vel_sp, const matrix::Vector2f &stick_xy, const float &stick_z);
void vel_sp_slewrate(const matrix::Vector2f &stick_xy, const float &stick_z, matrix::Vector3f &vel_sp);
void reset_slewrate_xy();