From e23382c6da37528a8282b059f3dddb2b5c16baa0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 4 Oct 2018 10:06:33 +0200
Subject: [PATCH] FlightTaskManualAltitude: call
FlightTaskManualStabilized::_updateHeadingSetpoints() directly
Instead of calling _updateSetpoints(), that also sets the thrust setpoint,
which is then overwritten again.
---
.../tasks/ManualAltitude/FlightTaskManualAltitude.cpp | 5 ++---
.../tasks/ManualStabilized/FlightTaskManualStabilized.hpp | 4 ++--
2 files changed, 4 insertions(+), 5 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
index 939f40d858..78c90de94f 100644
--- a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+++ b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
@@ -251,9 +251,7 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
void FlightTaskManualAltitude::_updateSetpoints()
{
- FlightTaskManualStabilized::_updateSetpoints(); // get yaw and thrust setpoints
-
- _thrust_setpoint *= NAN; // Don't need thrust setpoint from Stabilized mode.
+ FlightTaskManualStabilized::_updateHeadingSetpoints(); // get yaw setpoint
// Thrust in xy are extracted directly from stick inputs. A magnitude of
// 1 means that maximum thrust along xy is demanded. A magnitude of 0 means no
@@ -269,6 +267,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
_thrust_setpoint(0) = sp(0);
_thrust_setpoint(1) = sp(1);
+ _thrust_setpoint(2) = NAN;
_updateAltitudeLock();
}
diff --git a/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
index b846a1ba42..41f28c581b 100644
--- a/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/ManualStabilized/FlightTaskManualStabilized.hpp
@@ -58,12 +58,12 @@ public:
void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
protected:
- virtual void _updateSetpoints(); /**< updates all setpoints*/
+ virtual void _updateSetpoints(); /**< updates all setpoints */
+ void _updateHeadingSetpoints(); /**< sets yaw or yaw speed */
virtual void _scaleSticks(); /**< scales sticks to yaw and thrust */
void _rotateIntoHeadingFrame(matrix::Vector2f &vec); /**< rotates vector into local frame */
private:
- void _updateHeadingSetpoints(); /**< sets yaw or yaw speed */
void _updateThrustSetpoints(); /**< sets thrust setpoint */
float _throttleCurve(); /**< piecewise linear mapping from stick to throttle */
--
GitLab