From 5d0646434042afad1a963f9598ee7378bc1bdc88 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart 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(); };