yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

FlightTask: rename mehtod and add default parameter for constraints

Browse Source
This commit is contained in:
Dennis Mannhart
2018-04-26 11:22:18 +02:00
committed by Lorenz Meier
parent edb2e3256f
commit 962c2eff61
2 changed files with 15 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/lib/FlightTasks/tasks/FlightTask.cpp
View File

@@ -17,7 +17,7 @@ bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
bool FlightTask::activate()
{
_resetSetpoints();
_updateSetpointLimits();
_setDefaultConstraints();
_time_stamp_activate = hrt_absolute_time();
return true;
}
@@ -75,9 +75,10 @@ bool FlightTask::_evaluateVehicleLocalPosition()
}
}
void FlightTask::_updateSetpointLimits()
void FlightTask::_setDefaultConstraints()
{
_limits.speed_NE_max = MPC_XY_VEL_MAX.get();
_limits.speed_up_max = MPC_Z_VEL_MAX_UP.get();
_limits.speed_dn_max = MPC_Z_VEL_MAX_DN.get();
_constraints.speed_xy = MPC_XY_VEL_MAX.get();
_constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
_constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
}