Dennis Mannhart
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bcbd3dc527
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ControlMath: thrust to attitude method (legacy method)
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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adcb2b9ca8
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TranslationControl: index fix
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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840247251d
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ControlMath: sign fix
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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deac27ee52
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FlightTaskManualAltitude: brake depends on acceleration; description clean up
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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09bf73945a
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ControlMath: rename namespace to file name
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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10a50dd97e
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FlightTaskManual: switch to camel case
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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3b8c718971
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TranslationControl: rename variable
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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2a544cee43
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TranslationControl: use reference insteady of by value
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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ded8675dae
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ControlMath: change description name
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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5fbee9fce9
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ControlMath tests
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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03c81a8948
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ControlMath: never saturate in xy when vector is below minimum
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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6daf78494a
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TranslationControl: adjust direction based on constrainPIDu inputs
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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75b6af77de
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ControlMath: fix index and don't adjust sign with method but rather function caller
needs to adjust for sign
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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19d50f9511
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ControlMath: index fix and scaling fix
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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c9cd920642
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rename VectorMath to ControlMath
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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820d6e866f
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TransitionControl: replace thrust constraints with VectorMath functions;
temporary: remove thrust projection onto body frame
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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41a5ea6daa
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Multicoper position control: function file for controller specific functions
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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6ffa7a96ba
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mc_pos_control: method for publishing attitude and local_pos_sp
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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6e63ddacd2
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yaw setpoint: add math::radians
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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f0f84d300b
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TranslationControl: move mc_pos_control related logic into TranslationControl
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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9ac32a764f
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TranslationControl added to CmakeLists.txt
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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85c1627c74
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TranslationControl: new class that generates thrust vector from state and setpoints
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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6adc1755cc
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FlightTaskManualPosition: most basic implementation
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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b5c19f6483
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FligtTaskManualAltitude: split functionality such that scale_stick values and the update_setpoints can be overwritten
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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ea61af3164
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FlightTaskManualAltitude: added to lib
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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4f5fa33e74
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FlightTaskManualAltitude: scale stick z to velocity
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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4dfd9ce8ed
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FlightTaskOrbit: replace sticks (which are now linear) with expo
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2018-04-05 07:30:12 +02:00 |
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Dennis Mannhart
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e076825d78
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FlightTaskManual: remove everything except of stick mapping
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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2b6e356c91
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FlightTaskManual: fix for the sideways oscillations in fast foward flight when using the vehicle yaw estimate
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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089ebcbfa4
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FlightTaskManual: fix two very stupid mistakes in the yaw hold logic
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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37e0f91c39
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FlightTaskSport: scale maximal stick input to maximal allowed velocity instead of being hardcoded for testing
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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6c0acf8e13
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FlightTaskManual: enable non-carrot velocity method also for yaw
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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975ac11635
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mc_pos_control: enable yawspeed execution for tasks
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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a896332746
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FlightTaskManual: fixed stick vector index bug and enabled basic yaw setpoint control
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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a00c3e4024
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FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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de872ca047
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FlightTaskManual: remove the smoothing from the task to add it later in a child class
also separated the velocity scaling to enable sport mode
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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6070d72308
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FlightTasks: Various review refactoring
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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4d0dca5dd5
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FlightTask: make applyCommandParameters getting called recursively & pass command by reference
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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4bb3692020
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FlightTask: remove unused declaration of old position evaluation method
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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fd93e55527
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FlightTaks: prevent running a new task with default parameters because they got rejected
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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d9c7e6321f
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FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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c500221894
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FlightTasks: move methods of the class header into the cpp
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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efd240904f
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FlightTasks: added possibility to apply task parameters from the vehicle command
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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b1f24da05e
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FlightTasks: enable mavlink command handling for switching tasks including acknowledgement
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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6ec9ff64d1
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FlightTaskManual/Orbit: make sure we are not required stick input data during orbit
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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e5d237088c
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FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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888a63c001
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FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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e44733a03c
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FlightTasks: small refactor for review comments
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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1906b5b635
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FlightTasks: remove all remaining unnecessary semicolons
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2018-04-05 07:30:12 +02:00 |
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Matthias Grob
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5efb298ed9
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FlightTasks: use forced update just after initialization
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2018-04-05 07:30:12 +02:00 |
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