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Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp.

This commit is contained in:
mcsauder 2021-04-19 12:47:10 -06:00 committed by Daniel Agar
parent 759a60ac82
commit 4eb758edf0
3 changed files with 12 additions and 11 deletions
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10
src/modules/flight_mode_manager/CMakeLists.txt
View File

@ -52,16 +52,16 @@ endif()
# add core flight tasks to list
list(APPEND flight_tasks_all
AutoFollowMe
AutoLineSmoothVel
Descend
Failsafe
ManualAcceleration
ManualAltitude
ManualAltitudeSmoothVel
ManualPosition
ManualPositionSmoothVel
AutoLineSmoothVel
AutoFollowMe
Failsafe
Descend
Transition
ManualAcceleration
${flight_tasks_to_add}
)

8
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
View File

@ -87,11 +87,12 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
vehicle_local_position_setpoint.vy = _velocity_setpoint(1);
vehicle_local_position_setpoint.vz = _velocity_setpoint(2);
_acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration);
_jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk);
vehicle_local_position_setpoint.yaw = _yaw_setpoint;
vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;
_acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration);
_jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk);
// deprecated, only kept for output logging
matrix::Vector3f(NAN, NAN, NAN).copyTo(vehicle_local_position_setpoint.thrust);
@ -104,7 +105,8 @@ void FlightTask::_resetSetpoints()
_velocity_setpoint.setNaN();
_acceleration_setpoint.setNaN();
_jerk_setpoint.setNaN();
_yaw_setpoint = _yawspeed_setpoint = NAN;
_yaw_setpoint = NAN;
_yawspeed_setpoint = NAN;
}
void FlightTask::_evaluateVehicleLocalPosition()

5
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
View File

@ -244,15 +244,14 @@ protected:
*/
matrix::Vector3f _position_setpoint;
matrix::Vector3f _velocity_setpoint;
matrix::Vector3f _velocity_setpoint_feedback;
matrix::Vector3f _acceleration_setpoint;
matrix::Vector3f _acceleration_setpoint_feedback;
matrix::Vector3f _jerk_setpoint;
float _yaw_setpoint{};
float _yawspeed_setpoint{};
matrix::Vector3f _velocity_setpoint_feedback;
matrix::Vector3f _acceleration_setpoint_feedback;
ekf_reset_counters_s _reset_counters{}; ///< Counters for estimator local position resets
/**