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Commit 2c63388f authored by bresch's avatar bresch Committed by Roman Bapst
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Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task

parent 0209fa00
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...@@ -133,7 +133,7 @@ const char *FlightTasks::errorToString(const int error) ...@@ -133,7 +133,7 @@ const char *FlightTasks::errorToString(const int error)
void FlightTasks::reActivate() void FlightTasks::reActivate()
{ {
if (_current_task.task) { if (_current_task.task) {
_current_task.task->activate(); _current_task.task->reActivate();
} }
} }
......
...@@ -52,6 +52,14 @@ bool FlightTaskAutoLineSmoothVel::activate() ...@@ -52,6 +52,14 @@ bool FlightTaskAutoLineSmoothVel::activate()
return ret; return ret;
} }
void FlightTaskAutoLineSmoothVel::reActivate()
{
// Don't reset during takeoff TODO: Find a proper solution
// The issue here is that with a small increment of velocity setpoint (generated by this flight task), the
// land detector doesn't detect takeoff and without takeoff detection, the
// flight task is always reset.
}
void FlightTaskAutoLineSmoothVel::_setDefaultConstraints() void FlightTaskAutoLineSmoothVel::_setDefaultConstraints()
{ {
FlightTaskAuto::_setDefaultConstraints(); FlightTaskAuto::_setDefaultConstraints();
......
...@@ -50,6 +50,7 @@ public: ...@@ -50,6 +50,7 @@ public:
virtual ~FlightTaskAutoLineSmoothVel() = default; virtual ~FlightTaskAutoLineSmoothVel() = default;
bool activate() override; bool activate() override;
void reActivate() override;
protected: protected:
......
...@@ -38,6 +38,11 @@ bool FlightTask::activate() ...@@ -38,6 +38,11 @@ bool FlightTask::activate()
return true; return true;
} }
void FlightTask::reActivate()
{
activate();
}
bool FlightTask::updateInitialize() bool FlightTask::updateInitialize()
{ {
_time_stamp_current = hrt_absolute_time(); _time_stamp_current = hrt_absolute_time();
......
...@@ -78,6 +78,11 @@ public: ...@@ -78,6 +78,11 @@ public:
*/ */
virtual bool activate(); virtual bool activate();
/**
* Call this to reset an active Flight Task
*/
virtual void reActivate();
/** /**
* To be called to adopt parameters from an arrived vehicle command * To be called to adopt parameters from an arrived vehicle command
* @return true if accepted, false if declined * @return true if accepted, false if declined
......
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