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FlightTask - Rename state_prev to last_setpoint

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This commit is contained in:
bresch
2019-07-16 13:09:09 +02:00
committed by Mathieu Bresciani
parent 37a9b90945
commit ea0e164145
28 changed files with 52 additions and 52 deletions
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src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+7 -7
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@@ -41,20 +41,20 @@
using namespace matrix;
bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s state_prev)
bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint)
{
bool ret = FlightTaskAutoMapper2::activate(state_prev);
bool ret = FlightTaskAutoMapper2::activate(last_setpoint);
checkSetpoints(state_prev);
const Vector3f accel_prev{state_prev.acc_x, state_prev.acc_y, state_prev.acc_z};
const Vector3f vel_prev = Vector3f(state_prev.vx, state_prev.vy, state_prev.vz);
const Vector3f pos_prev = Vector3f(state_prev.x, state_prev.y, state_prev.z);
checkSetpoints(last_setpoint);
const Vector3f accel_prev(last_setpoint.acc_x, last_setpoint.acc_y, last_setpoint.acc_z);
const Vector3f vel_prev(last_setpoint.vx, last_setpoint.vy, last_setpoint.vz);
const Vector3f pos_prev(last_setpoint.x, last_setpoint.y, last_setpoint.z);
for (int i = 0; i < 3; ++i) {
_trajectory[i].reset(accel_prev(i), vel_prev(i), pos_prev(i));
}
_yaw_sp_prev = state_prev.yaw;
_yaw_sp_prev = last_setpoint.yaw;
_updateTrajConstraints();
_initEkfResetCounters();