FlightTaskManualPositionSmooth.cpp 2.62 KiB
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/**
* @file FlightManualPositionSmooth.cpp
*/
#include "FlightTaskManualPositionSmooth.hpp"
using namespace matrix;
FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth() :
_smoothingXY(this, matrix::Vector2f(&_velocity(0))),
_smoothingZ(this, _velocity(2), _sticks(2))
{}
void FlightTaskManualPositionSmooth::_updateSetpoints()
{
/* Get yaw setpont, un-smoothed position setpoints.*/
FlightTaskManualPosition::_updateSetpoints();
/* Smooth velocity setpoint in xy.*/
matrix::Vector2f vel(&_velocity(0));
Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yawspeed_setpoint, _deltatime);
_velocity_setpoint(0) = vel_sp_xy(0);
_velocity_setpoint(1) = vel_sp_xy(1);
/* Check for altitude lock.*/
_updateXYlock();
/* Smooth velocity in z.*/
_smoothingZ.smoothVelFromSticks(_velocity_setpoint(2), _deltatime);
/* Check for altitude lock*/
_updateAltitudeLock();
}