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mc_pos_control/FlightTask: apply nit-pick review findings

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Matthias Grob
2019-12-03 11:36:43 +01:00
parent 82b4e766a5
commit a3d30fc970
3 changed files with 8 additions and 6 deletions
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2
src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
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@@ -164,7 +164,7 @@ void FlightTask::_evaluateVehicleLocalPosition()
void FlightTask::_evaluateDistanceToGround() void FlightTask::_evaluateDistanceToGround()
{ {
// Altitude above ground is by default just the negation of the current local position in D-direction. // Altitude above ground is local z-position or altitude above home or distance sensor altitude depending on what's available
_dist_to_ground = -_position(2); _dist_to_ground = -_position(2);
if (PX4_ISFINITE(_dist_to_bottom)) { if (PX4_ISFINITE(_dist_to_bottom)) {

2
src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
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@@ -211,7 +211,7 @@ protected:
matrix::Vector3f _position; /**< current vehicle position */ matrix::Vector3f _position; /**< current vehicle position */
matrix::Vector3f _velocity; /**< current vehicle velocity */ matrix::Vector3f _velocity; /**< current vehicle velocity */
float _yaw = 0.f; /**< current vehicle yaw heading */ float _yaw = 0.f; /**< current vehicle yaw heading */
float _dist_to_bottom = 0.0f; /**< current height above ground level */ float _dist_to_bottom = 0.f; /**< current height above ground level */
float _dist_to_ground = 0.f; /**< equals _dist_to_bottom if valid, height above home otherwise */ float _dist_to_ground = 0.f; /**< equals _dist_to_bottom if valid, height above home otherwise */
/** /**

10
src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -352,6 +352,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
/** /**
* Maximum horizontal velocity during landing * Maximum horizontal velocity during landing
* Set the value higher than the otherwise expected maximum to disable any slowdown.
* *
* @unit m/s * @unit m/s
* @min 0 * @min 0
@@ -692,11 +693,12 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
/** /**
* Altitude for 1. step of slow landing (descend) * Altitude for 1. step of slow landing (descend)
* *
* Below this altitude descending velocity gets limited * Below this altitude:
* to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" * - descending velocity gets limited to a value
* to enable a smooth descent experience. * between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
* The horizontal velocity also gets limited to a value * - horizontal velocity gets limited to a value
* between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY" * between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY"
* for a smooth descent and landing experience.
* Value needs to be higher than "MPC_LAND_ALT2" * Value needs to be higher than "MPC_LAND_ALT2"
* *
* @unit m * @unit m