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FlightTask: set yaw_setpoint to NAN when yaw should not be controlled

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bresch
2021-11-16 18:09:37 -05:00
committed by Daniel Agar
parent 2213343240
commit f751dd2242
9 changed files with 29 additions and 16 deletions
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src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+4 -2
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@@ -68,8 +68,10 @@ bool FlightTaskManualAcceleration::update()
bool ret = FlightTaskManualAltitudeSmoothVel::update();
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _is_yaw_good_for_control, _deltatime);
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint,
_position,
_velocity_setpoint_feedback.xy(), _deltatime);
_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);