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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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eaf4f99e38
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.
61 lines
2.5 KiB
C++
61 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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*
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****************************************************************************/
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/**
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* @file FlightTaskManualPosition.hpp
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*
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* Flight task for manual position controlled mode.
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*
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*/
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#pragma once
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#include "FlightTaskManualAltitude.hpp"
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class FlightTaskManualPosition : public FlightTaskManualAltitude
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{
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public:
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FlightTaskManualPosition(control::SuperBlock *parent, const char *name);
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virtual ~FlightTaskManualPosition() = default;
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protected:
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control::BlockParamFloat _vel_xy_manual_max; /**< maximum speed allowed horizontally */
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control::BlockParamFloat _acc_xy_max;/**< maximum acceleration horizontally. Only used to compute lock time */
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control::BlockParamFloat _vel_hold_thr_xy; /**< velocity threshold to switch back into horizontal position hold */
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void _updateXYlock(); /**< applies positon lock based on stick and velocity */
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void _updateSetpoints() override;
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void _scaleSticks() override;
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};
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