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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/FlightTaskManualAltitude.cpp
+8 -15
View File
@@ -48,13 +48,6 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
{}
bool FlightTaskManualAltitude::activate()
{
bool ret = FlightTaskManualStabilized::activate();
_vel_sp(2) = 0.0f;
return ret;
}
void FlightTaskManualAltitude::_scaleSticks()
{
/* Reuse same scaling as for stabilized */
@@ -62,7 +55,7 @@ void FlightTaskManualAltitude::_scaleSticks()
/* Scale horizontal velocity with expo curve stick input*/
const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
_vel_sp(2) = vel_max_z * _sticks_expo(2);
_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
}
void FlightTaskManualAltitude::_updateAltitudeLock()
@@ -72,14 +65,14 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
*/
/* handle position and altitude hold */
const bool apply_brake_z = fabsf(_vel_sp(2)) <= FLT_EPSILON;
const bool apply_brake_z = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
const bool stopped_z = (_vel_hold_thr_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_hold_thr_z.get());
if (apply_brake_z && stopped_z && !PX4_ISFINITE(_pos_sp(2))) {
_pos_sp(2) = _position(2);
if (apply_brake_z && stopped_z && !PX4_ISFINITE(_position_setpoint(2))) {
_position_setpoint(2) = _position(2);
} else if (!apply_brake_z) {
_pos_sp(2) = NAN;
_position_setpoint(2) = NAN;
}
}
@@ -87,7 +80,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
{
FlightTaskManualStabilized::_updateSetpoints(); // get yaw and thrust setpoints
_thr_sp *= NAN; // Don't need thrust setpoint from Stabilized mode.
_thrust_setpoint *= NAN; // Don't need thrust setpoint from Stabilized mode.
/* Thrust in xy are extracted directly from stick inputs. A magnitude of
* 1 means that maximum thrust along xy is required. A magnitude of 0 means no
@@ -101,8 +94,8 @@ void FlightTaskManualAltitude::_updateSetpoints()
sp.normalize();
}
_thr_sp(0) = sp(0);
_thr_sp(1) = sp(1);
_thrust_setpoint(0) = sp(0);
_thrust_setpoint(1) = sp(1);
_updateAltitudeLock();
}