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FlightTasks: adapt tasks to member setpoints

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The FlightTaskManual... tasks already had their internal
setpoint member variables. I switched them to use the
architecture with setpoint member variables as it was
implemented the commit before. They simplify a lot.
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 309237c4a2
commit eaf4f99e38
10 changed files with 36 additions and 79 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.hpp
-9
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@@ -63,15 +63,6 @@ protected:
matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
control::BlockParamFloat _stick_dz; /**< 0-deadzone around the center for the sticks */
/* Setpoints: NAN means that setpoint is not being considered. */
matrix::Vector3f _thr_sp{NAN, NAN, NAN}; /**< thrust setpoint */
matrix::Vector3f _vel_sp{NAN, NAN, NAN}; /**< velocity setpoint */
matrix::Vector3f _pos_sp{NAN, NAN, NAN}; /**< position setpoint */
float _yaw_sp{NAN}; /**< yaw setpoint */
float _yaw_rate_sp{NAN}; /**< yawspeed setpoint */
void _resetToNAN();
private:
uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};