diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp index 265b6c4bdf..cdc4aa16d2 100644 --- a/src/lib/FlightTasks/FlightTasks.cpp +++ b/src/lib/FlightTasks/FlightTasks.cpp @@ -65,7 +65,7 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index) } // Save current setpoints for the nex FlightTask - vehicle_local_position_setpoint_s current_state = getPositionSetpoint(); + vehicle_local_position_setpoint_s last_setpoint = getPositionSetpoint(); if (_initTask(new_task_index)) { // invalid task @@ -88,7 +88,7 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index) _subscription_array.forcedUpdate(); // make sure data is available for all new subscriptions // activation failed - if (!_current_task.task->updateInitialize() || !_current_task.task->activate(current_state)) { + if (!_current_task.task->updateInitialize() || !_current_task.task->activate(last_setpoint)) { _current_task.task->~FlightTask(); _current_task.task = nullptr; _current_task.index = FlightTaskIndex::None; diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp index 617e4db85d..8f9f3ac987 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp @@ -77,9 +77,9 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr return true; } -bool FlightTaskAuto::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskAuto::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTask::activate(state_prev); + bool ret = FlightTask::activate(last_setpoint); _position_setpoint = _position; _velocity_setpoint = _velocity; _yaw_setpoint = _yaw_sp_prev = _yaw; diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp index f7e5fbeaa5..c7031da898 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp @@ -78,7 +78,7 @@ public: virtual ~FlightTaskAuto() = default; bool initializeSubscriptions(SubscriptionArray &subscription_array) override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; bool updateFinalize() override; diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp index 1cbe502137..f538149f35 100644 --- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp +++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp @@ -41,20 +41,20 @@ using namespace matrix; -bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskAutoLineSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskAutoMapper2::activate(state_prev); + bool ret = FlightTaskAutoMapper2::activate(last_setpoint); - checkSetpoints(state_prev); - const Vector3f accel_prev{state_prev.acc_x, state_prev.acc_y, state_prev.acc_z}; - const Vector3f vel_prev = Vector3f(state_prev.vx, state_prev.vy, state_prev.vz); - const Vector3f pos_prev = Vector3f(state_prev.x, state_prev.y, state_prev.z); + checkSetpoints(last_setpoint); + const Vector3f accel_prev(last_setpoint.acc_x, last_setpoint.acc_y, last_setpoint.acc_z); + const Vector3f vel_prev(last_setpoint.vx, last_setpoint.vy, last_setpoint.vz); + const Vector3f pos_prev(last_setpoint.x, last_setpoint.y, last_setpoint.z); for (int i = 0; i < 3; ++i) { _trajectory[i].reset(accel_prev(i), vel_prev(i), pos_prev(i)); } - _yaw_sp_prev = state_prev.yaw; + _yaw_sp_prev = last_setpoint.yaw; _updateTrajConstraints(); _initEkfResetCounters(); diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp index 48f666ab6d..41e90e8e9f 100644 --- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp +++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp @@ -49,7 +49,7 @@ public: FlightTaskAutoLineSmoothVel() = default; virtual ~FlightTaskAutoLineSmoothVel() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; void reActivate() override; protected: diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp index d0369754db..1387609ef2 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp @@ -40,9 +40,9 @@ using namespace matrix; -bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskAuto::activate(state_prev); + bool ret = FlightTaskAuto::activate(last_setpoint); _reset(); return ret; } diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp index e531594d28..cdfc0bdebc 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp +++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp @@ -47,7 +47,7 @@ class FlightTaskAutoMapper : public FlightTaskAuto public: FlightTaskAutoMapper() = default; virtual ~FlightTaskAutoMapper() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool update() override; protected: diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp index b6fe78bc86..67c4c1c6f2 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp @@ -40,9 +40,9 @@ using namespace matrix; -bool FlightTaskAutoMapper2::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskAutoMapper2::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskAuto::activate(state_prev); + bool ret = FlightTaskAuto::activate(last_setpoint); _reset(); return ret; } diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp index 6c32d4c72c..5cfd0797e0 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp @@ -47,7 +47,7 @@ class FlightTaskAutoMapper2 : public FlightTaskAuto public: FlightTaskAutoMapper2() = default; virtual ~FlightTaskAutoMapper2() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool update() override; protected: diff --git a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp b/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp index 973d53242f..3e5626f0bb 100644 --- a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp +++ b/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp @@ -36,9 +36,9 @@ #include "FlightTaskFailsafe.hpp" -bool FlightTaskFailsafe::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskFailsafe::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTask::activate(state_prev); + bool ret = FlightTask::activate(last_setpoint); _position_setpoint = _position; _velocity_setpoint.zero(); _thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_param_mpc_thr_hover.get() * 0.6f); diff --git a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp b/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp index 4ba47ffda8..dcf175e734 100644 --- a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp +++ b/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp @@ -47,7 +47,7 @@ public: virtual ~FlightTaskFailsafe() = default; bool update() override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; private: DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp index e3b596e881..b29cd3f573 100644 --- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp +++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp @@ -22,7 +22,7 @@ bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array) return true; } -bool FlightTask::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTask::activate(vehicle_local_position_setpoint_s last_setpoint) { _resetSetpoints(); _setDefaultConstraints(); diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp index 443e8fcd4c..645ab439dd 100644 --- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp +++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp @@ -79,7 +79,7 @@ public: * @param state of the previous task * @return true on success, false on error */ - virtual bool activate(vehicle_local_position_setpoint_s state_prev); + virtual bool activate(vehicle_local_position_setpoint_s last_setpoint); /** * Call this to reset an active Flight Task diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index 795e5635b8..5a030d802e 100644 --- a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -61,9 +61,9 @@ bool FlightTaskManualAltitude::updateInitialize() return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw); } -bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskManual::activate(state_prev); + bool ret = FlightTaskManual::activate(last_setpoint); _yaw_setpoint = NAN; _yawspeed_setpoint = 0.0f; _thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, NAN); // altitude is controlled from position/velocity diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp index 4be2b6b231..8460719fda 100644 --- a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp +++ b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp @@ -48,7 +48,7 @@ public: FlightTaskManualAltitude() = default; virtual ~FlightTaskManualAltitude() = default; bool initializeSubscriptions(SubscriptionArray &subscription_array) override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; bool update() override; diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp index fb9b063fa0..a6919c07c6 100644 --- a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp +++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp @@ -41,14 +41,14 @@ using namespace matrix; -bool FlightTaskManualAltitudeSmoothVel::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskManualAltitudeSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskManualAltitude::activate(state_prev); + bool ret = FlightTaskManualAltitude::activate(last_setpoint); // Check if the previous FlightTask provided setpoints - checkSetpoints(state_prev); + checkSetpoints(last_setpoint); - _smoothing.reset(state_prev.acc_z, state_prev.vz, state_prev.z); + _smoothing.reset(last_setpoint.acc_z, last_setpoint.vz, last_setpoint.z); _initEkfResetCounters(); _resetPositionLock(); diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp index 10477b15ab..608b286c7e 100644 --- a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp +++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp @@ -48,7 +48,7 @@ public: FlightTaskManualAltitudeSmoothVel() = default; virtual ~FlightTaskManualAltitudeSmoothVel() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; void reActivate() override; protected: diff --git a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp index 8f950e22ac..b2e1d6f415 100644 --- a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp +++ b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp @@ -65,10 +65,10 @@ bool FlightTaskManualPosition::updateInitialize() && PX4_ISFINITE(_velocity(1)); } -bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s last_setpoint) { // all requirements from altitude-mode still have to hold - bool ret = FlightTaskManualAltitude::activate(state_prev); + bool ret = FlightTaskManualAltitude::activate(last_setpoint); _constraints.tilt = math::radians(_param_mpc_tiltmax_air.get()); diff --git a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp index 1d5d628830..505512faa0 100644 --- a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp +++ b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp @@ -50,7 +50,7 @@ public: virtual ~FlightTaskManualPosition() = default; bool initializeSubscriptions(SubscriptionArray &subscription_array) override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; /** diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp index c73a0eb7ff..62ac3c1857 100644 --- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp +++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp @@ -38,9 +38,9 @@ using namespace matrix; -bool FlightTaskManualPositionSmoothVel::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskManualPositionSmoothVel::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskManualPosition::activate(state_prev); + bool ret = FlightTaskManualPosition::activate(last_setpoint); // Check if the previous FlightTask provided setpoints checkSetpoints(last_setpoint); diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp index 99a394f396..cb63426576 100644 --- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp +++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp @@ -49,7 +49,7 @@ public: virtual ~FlightTaskManualPositionSmoothVel() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; void reActivate() override; protected: diff --git a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp index c1502e52b2..a67d47f714 100644 --- a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp +++ b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp @@ -64,9 +64,9 @@ bool FlightTaskOffboard::updateInitialize() && PX4_ISFINITE(_velocity(1)); } -bool FlightTaskOffboard::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskOffboard::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTask::activate(state_prev); + bool ret = FlightTask::activate(last_setpoint); _position_setpoint = _position; _velocity_setpoint.setZero(); _position_lock.setAll(NAN); diff --git a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp index 969c0f4fea..caf0d59e21 100644 --- a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp +++ b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp @@ -49,7 +49,7 @@ public: virtual ~FlightTaskOffboard() = default; bool initializeSubscriptions(SubscriptionArray &subscription_array) override; bool update() override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; protected: diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp index 8a91b5e9dd..2c496e56b1 100644 --- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp @@ -147,9 +147,9 @@ bool FlightTaskOrbit::checkAcceleration(float r, float v, float a) return v * v < a * r; } -bool FlightTaskOrbit::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskOrbit::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskManualAltitudeSmooth::activate(state_prev); + bool ret = FlightTaskManualAltitudeSmooth::activate(last_setpoint); _r = _radius_min; _v = 1.f; _center = Vector2f(_position); diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp index 8e6b683877..e7688df98f 100644 --- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp +++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp @@ -51,7 +51,7 @@ public: virtual ~FlightTaskOrbit(); bool applyCommandParameters(const vehicle_command_s &command) override; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool update() override; /** diff --git a/src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp b/src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp index 9554ef1ab9..b5eff3b1a9 100644 --- a/src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp +++ b/src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp @@ -52,9 +52,9 @@ public: virtual ~FlightTaskSport() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override + bool activate(vehicle_local_position_setpoint_s last_setpoint) override { - bool ret = FlightTaskManualPosition::activate(state_prev); + bool ret = FlightTaskManualPosition::activate(last_setpoint); // default constraints already are the maximum allowed limits _setDefaultConstraints(); diff --git a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp index bde203eab3..b17337a724 100644 --- a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp +++ b/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp @@ -42,14 +42,14 @@ bool FlightTaskTransition::updateInitialize() return FlightTask::updateInitialize(); } -bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s state_prev) +bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s last_setpoint) { - checkSetpoints(state_prev); - _transition_altitude = state_prev.z; - _transition_yaw = state_prev.yaw; + checkSetpoints(last_setpoint); + _transition_altitude = last_setpoint.z; + _transition_yaw = last_setpoint.yaw; _acceleration_setpoint.setAll(0.f); _velocity_prev = _velocity; - return FlightTask::activate(state_prev); + return FlightTask::activate(last_setpoint); } void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &setpoints) diff --git a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp b/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp index 571e8912bb..d6dd7f7d01 100644 --- a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp +++ b/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp @@ -47,7 +47,7 @@ public: FlightTaskTransition() = default; virtual ~FlightTaskTransition() = default; - bool activate(vehicle_local_position_setpoint_s state_prev) override; + bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; bool update() override;