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Use the new trajectory constraints to synchronize and limit velocities

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This commit is contained in:
Julian Kent
2019-12-12 14:51:58 +01:00
committed by Mathieu Bresciani
parent 025c044530
commit 75d7a049c1
4 changed files with 88 additions and 85 deletions
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8
src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@@ -71,9 +71,8 @@ protected:
static float _constrainAbs(float val, float max); /** Constrain the value -max <= val <= max */
/** Give 0 if next is the last target **/
float _getSpeedAtTarget(float next_target_speed) const;
float _getMaxSpeedFromDistance(float braking_distance, float final_speed) const;
float _getMaxXYSpeed() const;
float _getMaxZSpeed() const;
void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
void _updateTrajConstraints();
@@ -91,7 +90,6 @@ protected:
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p
);
};