From 5d0646434042afad1a963f9598ee7378bc1bdc88 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Fri, 5 Jan 2018 10:45:54 +0100
Subject: [PATCH] FlightTaskManualPosition: rename updateXYsetpoints to
updateXYlock
---
src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp | 4 ++--
src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp | 4 +---
2 files changed, 3 insertions(+), 5 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
index 97592881f1..c4e985806a 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
@@ -80,7 +80,7 @@ void FlightTaskManualPosition::_scaleSticks()
_vel_sp_xy = matrix::Vector2f(vel_sp(0), vel_sp(1));
}
-void FlightTaskManualPosition::_updateXYsetpoints()
+void FlightTaskManualPosition::_updateXYlock()
{
/* If position lock is not active, position setpoint is set to NAN.*/
const float vel_xy_norm = Vector2f(&_velocity(0)).length();
@@ -98,7 +98,7 @@ void FlightTaskManualPosition::_updateXYsetpoints()
void FlightTaskManualPosition::_updateSetpoints()
{
FlightTaskManualAltitude::_updateSetpoints(); // get yaw and z setpoints
- _updateXYsetpoints(); // get xy setpoints
+ _updateXYlock(); // check for position lock
}
bool FlightTaskManualPosition::update()
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
index 5f3998a5b3..127927d92e 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
@@ -61,9 +61,7 @@ protected:
control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time. */
control::BlockParamFloat _vel_xy_dz; /**< velocity threshold/deadzone to switch into horizontal position hold */
+ void _updateXYlock(); /**< Applies positon lock based on stick and velocity */
void _updateSetpoints() override;
void _scaleSticks() override;
-
-private:
- void _updateXYsetpoints();
};
--
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