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FlightTaskManualAltitude: rename method from updateZsetpoints to updateAltitudeLock

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This commit is contained in:
Dennis Mannhart 2018-01-05 10:43:13 +01:00 committed by Beat Küng
parent 1810ae8226
commit efc2721add
3 changed files with 7 additions and 8 deletions
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9
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
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@ -67,11 +67,10 @@ void FlightTaskManualAltitude::_scaleSticks()
_vel_sp_z = vel_max_z * _sticks_expo(2);
}
void FlightTaskManualAltitude::_updateZsetpoints()
void FlightTaskManualAltitude::_updateAltitudeLock()
{
/* Depending on stick inputs, position is locked or
* velocity setpoint is used. If not locked, position
* setpoints is set to NAN.
/* Depending on stick inputs and velocity, position is locked.
* If not locked, altitude setpoint is set to NAN.
*/
/* handle position and altitude hold */
@ -104,7 +103,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
_thr_sp(0) = sp(0);
_thr_sp(1) = sp(1);
_updateZsetpoints(); // get z setpoints
_updateAltitudeLock(); // get z setpoints
}
bool FlightTaskManualAltitude::update()

2
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
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@ -60,7 +60,7 @@ protected:
control::BlockParamFloat _vel_max_up; /**< Maximum speed allowed to go down. */
control::BlockParamFloat _vel_z_dz; /**< velocity threshold/deadzone to switch into vertical position hold */
void _updateZsetpoints(); /**< Sets position or velocity setpoints. */
void _updateAltitudeLock(); /**< Checks for position lock. */
void _updateSetpoints() override; /**< Updates all setpoints. */
void _scaleSticks() override; /**< Scales sticks to velocity in z. */

4
src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp
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@ -62,8 +62,8 @@ void FlightTaskManualAltitudeSmooth::_updateSetpoints()
float vel_sp[2] = {_vel_sp_z, _vel_sp_prev_z};
_smoothing.smoothVelFromSticks(vel_sp, _deltatime);
/* Update position setpoint in z direction based on lock criteria*/
_updateZsetpoints();
/* Check for altitude lock*/
_updateAltitudeLock();
/* Update previous velocity setpoint for next smoothing iteration */
_vel_sp_prev_z = _vel_sp_z;