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FlightTaskAuto: replace NAV_ACC_RAD with acceptance radius from triplet

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Martina
2018-09-24 16:47:39 +02:00
committed by Daniel Agar
parent 18f4144e5a
commit 280cb34a77
3 changed files with 16 additions and 14 deletions
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2
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
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@@ -104,11 +104,11 @@ protected:
State _current_state{State::none};
float _speed_at_target = 0.0f; /**< Desired velocity at target. */
float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_XY_CRUISE>) MPC_XY_CRUISE,
(ParamFloat<px4::params::MPC_CRUISE_90>) MPC_CRUISE_90, // speed at corner when angle is 90 degrees move to line
(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD, // acceptance radius at which waypoints are updated move to line
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD, //vertical acceptance radius at which waypoints are updated
(ParamInt<px4::params::MPC_YAW_MODE>) MPC_YAW_MODE, // defines how heading is executed,
(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID // obstacle avoidance active