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FlightTasks: shift DEFINE_PARAMETERS to end of access modifiers 

- DEFINE_PARAMETERS includes a private access modifier, so we need to
keep these at the end to prevent issues when extending a flight task
This commit is contained in:
Daniel Agar 2019-11-02 10:14:48 -04:00
parent c804dea914
commit 3e189889ef
4 changed files with 38 additions and 37 deletions
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13
src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.hpp
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@ -50,18 +50,19 @@ public:
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
);
void _generateSetpoints() override; /**< Generate setpoints along line. */
void _generateHeadingAlongTrack(); /**< Generates heading along track. */
void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
);
private:
void _setSpeedAtTarget(); /**< Sets desiered speed at target */
float _speed_at_target{0.0f};

20
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@ -54,16 +54,6 @@ public:
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
);
void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
/** Reset position or velocity setpoints in case of EKF reset event */
@ -102,4 +92,14 @@ protected:
bool _want_takeoff{false};
VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
);
};

20
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
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@ -52,6 +52,16 @@ public:
protected:
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
void _generateIdleSetpoints();
void _generateLandSetpoints();
void _generateVelocitySetpoints();
void _generateTakeoffSetpoints();
void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
void updateParams() override; /**< See ModuleParam class */
float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
@ -64,16 +74,6 @@ protected:
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed
);
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
void _generateIdleSetpoints();
void _generateLandSetpoints();
void _generateVelocitySetpoints();
void _generateTakeoffSetpoints();
void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
void updateParams() override; /**< See ModuleParam class */
private:
void _reset(); /**< Resets member variables to current vehicle state */

22
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
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@ -52,6 +52,17 @@ public:
protected:
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
void _prepareIdleSetpoints();
void _prepareLandSetpoints();
void _prepareVelocitySetpoints();
void _prepareTakeoffSetpoints();
void _preparePositionSetpoints();
void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
void updateParams() override; /**< See ModuleParam class */
float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
@ -65,17 +76,6 @@ protected:
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed
);
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
void _prepareIdleSetpoints();
void _prepareLandSetpoints();
void _prepareVelocitySetpoints();
void _prepareTakeoffSetpoints();
void _preparePositionSetpoints();
void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
void updateParams() override; /**< See ModuleParam class */
private:
void _reset(); /**< Resets member variables to current vehicle state */