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AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate

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This commit is contained in:
bresch
2019-05-09 14:12:11 +02:00
committed by Lorenz Meier
parent a7cf981c8c
commit d13dfdcd24
3 changed files with 2 additions and 4 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+2 -1
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@@ -104,6 +104,8 @@ protected:
float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */ float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
int _mission_gear = landing_gear_s::GEAR_KEEP; int _mission_gear = landing_gear_s::GEAR_KEEP;
float _yaw_sp_prev = NAN;
ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */ ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
@@ -119,7 +121,6 @@ protected:
private: private:
matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */ matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */ bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
float _yaw_sp_prev = NAN;
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr}; uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
-2
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@@ -82,8 +82,6 @@ void FlightTaskAutoLineSmoothVel::_generateHeading()
if (!_generateHeadingAlongTraj()) { if (!_generateHeadingAlongTraj()) {
_yaw_setpoint = _yaw_sp_prev; _yaw_setpoint = _yaw_sp_prev;
} }
_yaw_sp_prev = _yaw_setpoint;
} }
bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj() bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj()
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
-1
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@@ -79,7 +79,6 @@ protected:
void _generateTrajectory(); void _generateTrajectory();
VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
float _yaw_sp_prev{NAN};
bool _want_takeoff{false}; bool _want_takeoff{false};
/* counters for estimator local position resets */ /* counters for estimator local position resets */