From 0eaa6222a2afa8c68b24232ae91511dc004d67f6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 26 Mar 2018 08:14:36 +0200
Subject: [PATCH] flight tasks: refactor BlockParam -> Param and handle param
updates
---
src/lib/FlightTasks/FlightTasks.cpp | 21 ++++++++++++-------
src/lib/FlightTasks/FlightTasks.hpp | 11 ++++++----
src/lib/FlightTasks/tasks/FlightTask.hpp | 16 ++++++++++----
.../FlightTasks/tasks/FlightTaskManual.cpp | 8 -------
.../FlightTasks/tasks/FlightTaskManual.hpp | 17 +++++++++------
.../tasks/FlightTaskManualAltitude.cpp | 8 -------
.../tasks/FlightTaskManualAltitude.hpp | 13 +++++++-----
.../tasks/FlightTaskManualAltitudeSmooth.cpp | 3 +--
.../tasks/FlightTaskManualAltitudeSmooth.hpp | 2 +-
.../tasks/FlightTaskManualPosition.cpp | 7 -------
.../tasks/FlightTaskManualPosition.hpp | 16 +++++++++-----
.../tasks/FlightTaskManualPositionSmooth.cpp | 3 +--
.../tasks/FlightTaskManualPositionSmooth.hpp | 4 +++-
.../tasks/FlightTaskManualStabilized.cpp | 11 +---------
.../tasks/FlightTaskManualStabilized.hpp | 18 +++++++++-------
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp | 3 +--
src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp | 2 +-
src/lib/FlightTasks/tasks/FlightTaskSport.hpp | 10 ++++-----
.../mc_pos_control/mc_pos_control_main.cpp | 2 ++
19 files changed, 89 insertions(+), 86 deletions(-)
diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp
index f482aa929b..159471ec41 100644
--- a/src/lib/FlightTasks/FlightTasks.cpp
+++ b/src/lib/FlightTasks/FlightTasks.cpp
@@ -45,31 +45,31 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index)
return 0;
case FlightTaskIndex::Stabilized:
- _current_task = new (&_task_union.stabilized) FlightTaskManualStabilized(this, "MANSTAB");
+ _current_task = new (&_task_union.stabilized) FlightTaskManualStabilized();
break;
case FlightTaskIndex::Altitude:
- _current_task = new (&_task_union.altitude) FlightTaskManualAltitude(this, "MANALT");
+ _current_task = new (&_task_union.altitude) FlightTaskManualAltitude();
break;
case FlightTaskIndex::AltitudeSmooth:
- _current_task = new (&_task_union.altitude_smooth) FlightTaskManualAltitudeSmooth(this, "MANALTSM");
+ _current_task = new (&_task_union.altitude_smooth) FlightTaskManualAltitudeSmooth();
break;
case FlightTaskIndex::Position:
- _current_task = new (&_task_union.position) FlightTaskManualPosition(this, "MANPOS");
+ _current_task = new (&_task_union.position) FlightTaskManualPosition();
break;
case FlightTaskIndex::PositionSmooth:
- _current_task = new (&_task_union.position_smooth) FlightTaskManualPositionSmooth(this, "MANPOSSM");
+ _current_task = new (&_task_union.position_smooth) FlightTaskManualPositionSmooth();
break;
case FlightTaskIndex::Orbit:
- _current_task = new (&_task_union.orbit) FlightTaskOrbit(this, "ORB");
+ _current_task = new (&_task_union.orbit) FlightTaskOrbit();
break;
case FlightTaskIndex::Sport:
- _current_task = new (&_task_union.sport) FlightTaskSport(this, "SPO");
+ _current_task = new (&_task_union.sport) FlightTaskSport();
break;
default:
@@ -111,6 +111,13 @@ int FlightTasks::switchTask(int new_task_index)
return -1;
}
+void FlightTasks::handleParameterUpdate()
+{
+ if (_current_task) {
+ _current_task->handleParameterUpdate();
+ }
+}
+
void FlightTasks::_updateCommand()
{
// TODO: port flight task mavlink command to have support for this functionality
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index fe0a650ddd..e596fc6009 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -67,12 +67,10 @@ enum class FlightTaskIndex : int {
Count // number of tasks
};
-class FlightTasks : control::SuperBlock
+class FlightTasks
{
public:
- FlightTasks() :
- SuperBlock(nullptr, "TSK")
- {}
+ FlightTasks() = default;
~FlightTasks()
{
@@ -119,6 +117,11 @@ public:
*/
bool isAnyTaskActive() const { return _current_task; }
+ /**
+ * Call this whenever a parameter update notification is received (parameter_update uORB message)
+ */
+ void handleParameterUpdate();
+
private:
/**
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index bf2da20fb9..23d5c46308 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -41,7 +41,7 @@
#pragma once
-#include <controllib/blocks.hpp>
+#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_local_position.h>
@@ -51,11 +51,11 @@
#include "../SubscriptionArray.hpp"
-class FlightTask : public control::Block
+class FlightTask : public ModuleParams
{
public:
- FlightTask(control::SuperBlock *parent, const char *name) :
- Block(parent, name)
+ FlightTask() :
+ ModuleParams(nullptr)
{ _resetSetpoints(); }
virtual ~FlightTask() = default;
@@ -98,6 +98,14 @@ public:
static const vehicle_local_position_setpoint_s empty_setpoint;
+ /**
+ * Call this whenever a parameter update notification is received (parameter_update uORB message)
+ */
+ void handleParameterUpdate()
+ {
+ updateParams();
+ }
+
protected:
/* Time abstraction */
static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
index 813a3b8b29..a4e36a870b 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
@@ -40,14 +40,6 @@
using namespace matrix;
-FlightTaskManual::FlightTaskManual(control::SuperBlock *parent, const char *name) :
- FlightTask(parent, name),
- _stick_dz(parent, "MPC_HOLD_DZ", false),
- _xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false),
- _z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false)
-{
-}
-
bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!FlightTask::initializeSubscriptions(subscription_array)) {
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index fc3307a55f..7347160b0c 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -46,7 +46,7 @@
class FlightTaskManual : public FlightTask
{
public:
- FlightTaskManual(control::SuperBlock *parent, const char *name);
+ FlightTaskManual() = default;
virtual ~FlightTaskManual() = default;
@@ -61,14 +61,19 @@ protected:
bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
- control::BlockParamFloat _stick_dz; /**< 0-deadzone around the center for the sticks */
+ float stickDeadzone() const { return _stick_dz.get(); }
private:
- uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+ bool _evaluateSticks(); /**< checks and sets stick inputs */
- control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction */
- control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in z direction */
+ uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
- bool _evaluateSticks(); /**< checks and sets stick inputs */
+ DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
+ (ParamFloat<px4::params::MPC_HOLD_DZ>) _stick_dz, /**< 0-deadzone around the center for the sticks */
+ (ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
+ _xy_vel_man_expo, /**< ratio of exponential curve for stick input in xy direction */
+ (ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
+ _z_vel_man_expo /**< ratio of exponential curve for stick input in z direction */
+ )
};
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
index 1a75545067..855f5e2608 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
@@ -40,14 +40,6 @@
using namespace matrix;
-FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent, const char *name) :
- FlightTaskManualStabilized(parent, name),
- _vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
- _vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
- _vel_hold_thr_z(parent, "MPC_HOLD_MAX_Z", false)
-
-{}
-
void FlightTaskManualAltitude::_scaleSticks()
{
/* Reuse same scaling as for stabilized */
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
index 293003c3e4..3d21c4bb10 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
@@ -44,17 +44,20 @@
class FlightTaskManualAltitude : public FlightTaskManualStabilized
{
public:
- FlightTaskManualAltitude(control::SuperBlock *parent, const char *name);
+ FlightTaskManualAltitude() = default;
virtual ~FlightTaskManualAltitude() = default;
protected:
- control::BlockParamFloat _vel_max_down; /**< maximum speed allowed to go up */
- control::BlockParamFloat _vel_max_up; /**< maximum speed allowed to go down */
- control::BlockParamFloat _vel_hold_thr_z; /**< velocity threshold to switch back into vertical position hold */
-
void _updateAltitudeLock(); /**< checks for position lock */
void _updateSetpoints() override; /**< updates all setpoints */
void _scaleSticks() override; /**< scales sticks to velocity in z */
+ DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
+ (ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down, /**< maximum speed allowed to go up */
+ (ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _vel_max_up, /**< maximum speed allowed to go down */
+ (ParamFloat<px4::params::MPC_HOLD_MAX_Z>)
+ _vel_hold_thr_z /**< velocity threshold to switch back into vertical position hold */
+ )
+
};
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp
index bb0c5485de..91a488c4e7 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp
@@ -39,9 +39,8 @@
using namespace matrix;
-FlightTaskManualAltitudeSmooth::FlightTaskManualAltitudeSmooth(control::SuperBlock *parent, const char *name) :
- FlightTaskManualAltitude(parent, name),
_smoothing(_velocity(2), _sticks(2))
+FlightTaskManualAltitudeSmooth::FlightTaskManualAltitudeSmooth() :
{}
void FlightTaskManualAltitudeSmooth::_updateSetpoints()
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
index 628141615f..ba22d08cef 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
@@ -44,7 +44,7 @@
class FlightTaskManualAltitudeSmooth : public FlightTaskManualAltitude
{
public:
- FlightTaskManualAltitudeSmooth(control::SuperBlock *parent, const char *name);
+ FlightTaskManualAltitudeSmooth();
virtual ~FlightTaskManualAltitudeSmooth() = default;
protected:
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
index d84050c8d5..361adb2333 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
@@ -41,13 +41,6 @@
using namespace matrix;
-FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent, const char *name) :
- FlightTaskManualAltitude(parent, name),
- _vel_xy_manual_max(parent, "MPC_VEL_MANUAL", false),
- _acc_xy_max(parent, "MPC_ACC_HOR_MAX", false),
- _vel_hold_thr_xy(parent, "MPC_HOLD_MAX_XY", false)
-{}
-
void FlightTaskManualPosition::_scaleSticks()
{
/* Use same scaling as for FlightTaskManualAltitude */
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
index 2277a48e77..1a4e533b72 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
@@ -45,16 +45,22 @@
class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
- FlightTaskManualPosition(control::SuperBlock *parent, const char *name);
+ FlightTaskManualPosition() = default;
virtual ~FlightTaskManualPosition() = default;
protected:
- control::BlockParamFloat _vel_xy_manual_max; /**< maximum speed allowed horizontally */
- control::BlockParamFloat _acc_xy_max;/**< maximum acceleration horizontally. Only used to compute lock time */
- control::BlockParamFloat _vel_hold_thr_xy; /**< velocity threshold to switch back into horizontal position hold */
-
void _updateXYlock(); /**< applies positon lock based on stick and velocity */
void _updateSetpoints() override;
void _scaleSticks() override;
+
+ DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
+ (ParamFloat<px4::params::MPC_VEL_MANUAL>) _vel_xy_manual_max, /**< maximum speed allowed horizontally */
+ (ParamFloat<px4::params::MPC_ACC_HOR_MAX>)
+ _acc_xy_max, /**< maximum acceleration horizontally. Only used to compute lock time */
+ (ParamFloat<px4::params::MPC_HOLD_MAX_XY>)
+ _vel_hold_thr_xy /**< velocity threshold to switch back into horizontal position hold */
+ )
+private:
+
};
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp
index a8507911f5..b4892c2d2e 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp
@@ -39,8 +39,7 @@
using namespace matrix;
-FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth(control::SuperBlock *parent, const char *name) :
- FlightTaskManualPosition(parent, name),
+FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth() :
_smoothingXY(matrix::Vector2f(&_velocity(0))),
_smoothingZ(_velocity(2), _sticks(2))
{}
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
index b8abc1f90b..a57c352d9f 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
@@ -45,13 +45,15 @@
class FlightTaskManualPositionSmooth : public FlightTaskManualPosition
{
public:
- FlightTaskManualPositionSmooth(control::SuperBlock *parent, const char *name);
+ FlightTaskManualPositionSmooth();
virtual ~FlightTaskManualPositionSmooth() = default;
protected:
virtual void _updateSetpoints() override;
+
+private:
ManualSmoothingXY _smoothingXY; /**< smoothing for velocity setpoints in xy */
ManualSmoothingZ _smoothingZ; /**< smoothing for velocity in z */
};
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index 46d4fb5b3f..8d3ca33af4 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -40,15 +40,6 @@
using namespace matrix;
-FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) :
- FlightTaskManual(parent, name),
- _yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
- _tilt_max_man(parent, "MPC_MAN_TILT_MAX", false),
- _throttle_min(parent, "MPC_THR_MIN", false),
- _throttle_max(parent, "MPC_THR_MAX", false),
- _throttle_hover(parent, "MPC_THR_HOVER", false)
-{}
-
bool FlightTaskManualStabilized::activate()
{
_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
@@ -68,7 +59,7 @@ void FlightTaskManualStabilized::_updateHeadingSetpoints()
/* Yaw-lock depends on stick input. If not locked,
* yaw_sp is set to NAN.
* TODO: add yawspeed to get threshold.*/
- const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get();
+ const bool stick_yaw_zero = fabsf(_sticks(3)) <= stickDeadzone();
if (stick_yaw_zero && !PX4_ISFINITE(_yaw_setpoint)) {
_yaw_setpoint = _yaw;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
index 0f6aa16986..df85abd232 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
@@ -45,7 +45,7 @@
class FlightTaskManualStabilized : public FlightTaskManual
{
public:
- FlightTaskManualStabilized(control::SuperBlock *parent, const char *name);
+ FlightTaskManualStabilized() = default;
virtual ~FlightTaskManualStabilized() = default;
@@ -60,15 +60,17 @@ protected:
private:
- float _throttle{}; /** mapped from stick z */
-
void _updateHeadingSetpoints(); /**< sets yaw or yaw speed */
void _updateThrustSetpoints(); /**< sets thrust setpoint */
float _throttleCurve(); /**< piecewise linear mapping from stick to throttle */
- control::BlockParamFloat _yaw_rate_scaling; /**< scaling factor from stick to yaw rate */
- control::BlockParamFloat _tilt_max_man; /**< maximum tilt allowed for manual flight */
- control::BlockParamFloat _throttle_min; /**< minimum throttle that always has to be satisfied in flight*/
- control::BlockParamFloat _throttle_max; /**< maximum throttle that always has to be satisfied in flight*/
- control::BlockParamFloat _throttle_hover; /**< throttle value at which vehicle is at hover equilibrium */
+ float _throttle{}; /** mapped from stick z */
+
+ DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
+ (ParamFloat<px4::params::MPC_MAN_Y_MAX>) _yaw_rate_scaling, /**< scaling factor from stick to yaw rate */
+ (ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _tilt_max_man, /**< maximum tilt allowed for manual flight */
+ (ParamFloat<px4::params::MPC_THR_MIN>) _throttle_min, /**< minimum throttle that always has to be satisfied in flight*/
+ (ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle that always has to be satisfied in flight*/
+ (ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover /**< throttle value at which vehicle is at hover equilibrium */
+ )
};
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
index 3af14f8147..4b2e8f1140 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
@@ -40,8 +40,7 @@
using namespace matrix;
-FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name) :
- FlightTaskManual(parent, name)
+FlightTaskOrbit::FlightTaskOrbit()
{
_sticks_data_required = false;
}
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
index ce501f6f88..1a71d6d154 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
@@ -46,7 +46,7 @@
class FlightTaskOrbit : public FlightTaskManual
{
public:
- FlightTaskOrbit(control::SuperBlock *parent, const char *name);
+ FlightTaskOrbit();
virtual ~FlightTaskOrbit() = default;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskSport.hpp b/src/lib/FlightTasks/tasks/FlightTaskSport.hpp
index f8db313781..7f77d9145e 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskSport.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskSport.hpp
@@ -48,10 +48,7 @@ using namespace matrix;
class FlightTaskSport : public FlightTaskManualPosition
{
public:
- FlightTaskSport(control::SuperBlock *parent, const char *name) :
- FlightTaskManualPosition(parent, name),
- _vel_xy_max(parent, "MPC_XY_VEL_MAX", false)
- { }
+ FlightTaskSport() = default;
virtual ~FlightTaskSport() = default;
@@ -70,6 +67,9 @@ protected:
}
private:
- control::BlockParamFloat _vel_xy_max; /**< maximal allowed horizontal speed, in sport mode full stick input*/
+ DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
+ (ParamFloat<px4::params::MPC_XY_VEL_MAX>)
+ _vel_xy_max /**< maximal allowed horizontal speed, in sport mode full stick input*/
+ )
};
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index dd0f84a481..9af098375f 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -562,6 +562,8 @@ MulticopterPositionControl::parameters_update(bool force)
ModuleParams::updateParams();
SuperBlock::updateParams();
+ _flight_tasks.handleParameterUpdate();
+
/* initialize vectors from params and enforce constraints */
_pos_p(0) = _xy_p.get();
--
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