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FlightTaskManualPositionSmooth: smooth xy and z

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent ac6ed74063
commit ed62056b7c
4 changed files with 42 additions and 15 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
+7 -5
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@@ -32,14 +32,15 @@
****************************************************************************/
/**
* @file FlightManualAltitude.hpp
* @file FlightManualPositionSmooth.hpp
*
* Flight task for manual controlled altitude.
* Flight task for smooth manual controlled position.
*/
#include "FlightTaskManualPosition.hpp"
#include "Utility/ManualSmoothingXY.hpp"
#include "Utility/ManualSmoothingZ.hpp"
class FlightTaskManualPositionSmooth : public FlightTaskManualPosition
{
@@ -48,13 +49,14 @@ public:
virtual ~FlightTaskManualPositionSmooth() = default;
bool activate() override;
protected:
virtual void _updateSetpoints() override;
ManualSmoothingXY _smoothingXY; // Smoothing for velocity setpoints.
ManualSmoothingZ _smoothingZ; //Smoothing for velocity in z.
float _vel_sp_prev_z{}; // Velocity setpoint from previous iteration.
private:
ManualSmoothingXY _smoothing; // Smoothing for velocity setpoints.
};