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

FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running

Browse Source
This commit is contained in:
Matthias Grob
2017-12-15 01:59:55 +01:00
committed by Beat Küng
parent c500221894
commit d9c7e6321f
5 changed files with 20 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/FlightTasks/tasks/FlightTask.cpp
View File

@@ -2,6 +2,7 @@
#include <mathlib/mathlib.h>
constexpr uint64_t FlightTask::_timeout;
constexpr vehicle_local_position_setpoint_s FlightTask::empty_setpoint;
bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
@@ -21,6 +22,7 @@ bool FlightTask::activate()
bool FlightTask::updateInitialize()
{
_resetSetpoint();
_time_stamp_current = hrt_absolute_time();
_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
_deltatime = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;