FlightTaskOrbit: parameter corrections from review

PX4 · Oct 13, 2019 · 2166b2f · 2166b2f
1 parent 64fb219
commit 2166b2f
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Showing 4 changed files with 24 additions and 27 deletions.
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
@@ -152,10 +152,7 @@ class FlightTask : public ModuleParams
 	/**
 	 * Call this whenever a parameter update notification is received (parameter_update uORB message)
 	 */
-	void virtual handleParameterUpdate()
-	{
-		updateParams();
-	}
+	virtual void handleParameterUpdate() { updateParams(); }
 
 	/**
 	 * Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy.

diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -50,17 +50,17 @@ FlightTaskOrbit::FlightTaskOrbit() : _circle_approach_line(_position)
 
 void FlightTaskOrbit::handleParameterUpdate()
 {
-	updateParams();
+	FlightTask::handleParameterUpdate();
 
-	if (_param_flt_orb_v_max.get() > _param_mpc_xy_vel_max.get()) {
-		_param_flt_orb_v_max.set(_param_mpc_xy_vel_max.get());
-		_param_flt_orb_v_max.commit();
+	if (_param_orbit_vel_max.get() > _param_mpc_xy_vel_max.get()) {
+		_param_orbit_vel_max.set(_param_mpc_xy_vel_max.get());
+		_param_orbit_vel_max.commit();
 		mavlink_log_critical(&_mavlink_log_pub, "Orbit speed has been constrained by max speed")
 	}
 
-	if (_param_flt_orb_r_min.get() > _param_flt_orb_r_max.get()) {
-		_param_flt_orb_r_min.set(_param_flt_orb_r_max.get());
-		_param_flt_orb_r_min.commit();
+	if (_param_orbit_rad_min.get() > _param_orbit_rad_max.get()) {
+		_param_orbit_rad_min.set(_param_orbit_rad_max.get());
+		_param_orbit_rad_min.commit();
 		mavlink_log_critical(&_mavlink_log_pub, "Orbit minimum radius has been constrained by maximum radius")
 	}
 }
@@ -131,11 +131,11 @@ bool FlightTaskOrbit::sendTelemetry()
 bool FlightTaskOrbit::setRadius(float r)
 {
 	// clip the radius to be within range
-	r = math::constrain(r, _param_flt_orb_r_min.get(), _param_flt_orb_r_max.get());
+	r = math::constrain(r, _param_orbit_rad_min.get(), _param_orbit_rad_max.get());
 
 	// small radius is more important than high velocity for safety
-	if (!checkAcceleration(r, _v, _param_flt_orb_a_max.get())) {
-		_v = math::sign(_v) * sqrtf(_param_flt_orb_a_max.get() * r);
+	if (!checkAcceleration(r, _v, _param_orbit_acc_max.get())) {
+		_v = math::sign(_v) * sqrtf(_param_orbit_acc_max.get() * r);
 	}
 
 	_r = r;
@@ -144,8 +144,8 @@ bool FlightTaskOrbit::setRadius(float r)
 
 bool FlightTaskOrbit::setVelocity(const float v)
 {
-	if (fabs(v) < _param_flt_orb_v_max.get() &&
-	    checkAcceleration(_r, v, _param_flt_orb_a_max.get())) {
+	if (fabs(v) < _param_orbit_vel_max.get() &&
+	    checkAcceleration(_r, v, _param_orbit_acc_max.get())) {
 		_v = v;
 		return true;
 	}
@@ -161,7 +161,7 @@ bool FlightTaskOrbit::checkAcceleration(float r, float v, float a)
 bool FlightTaskOrbit::activate(vehicle_local_position_setpoint_s last_setpoint)
 {
 	bool ret = FlightTaskManualAltitudeSmooth::activate(last_setpoint);
-	_r = _param_flt_orb_r_min.get();
+	_r = _param_orbit_rad_min.get();
 	_v =  1.f;
 	_center = Vector2f(_position);
 	_center(0) -= _r;
@@ -183,8 +183,8 @@ bool FlightTaskOrbit::update()
 	FlightTaskManualAltitudeSmooth::update();
 
 	// stick input adjusts parameters within a fixed time frame
-	const float r = _r - _sticks_expo(0) * _deltatime * (_param_flt_orb_r_max.get() / 8.f);
-	const float v = _v - _sticks_expo(1) * _deltatime * (_param_flt_orb_v_max.get() / 4.f);
+	const float r = _r - _sticks_expo(0) * _deltatime * (_param_orbit_rad_max.get() / 8.f);
+	const float v = _v - _sticks_expo(1) * _deltatime * (_param_orbit_vel_max.get() / 4.f);
 
 	setRadius(r);
 	setVelocity(v);

diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp
@@ -105,9 +105,9 @@ class FlightTaskOrbit : public FlightTaskManualAltitudeSmooth
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitudeSmooth,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
 					(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
-					(ParamFloat<px4::params::FLT_ORB_A_MAX>)_param_flt_orb_a_max,
-					(ParamFloat<px4::params::FLT_ORB_R_MIN>)_param_flt_orb_r_min,
-					(ParamFloat<px4::params::FLT_ORB_R_MAX>)_param_flt_orb_r_max,
-					(ParamFloat<px4::params::FLT_ORB_V_MAX>)_param_flt_orb_v_max
+					(ParamFloat<px4::params::ORBIT_ACC_MAX>) _param_orbit_acc_max,
+					(ParamFloat<px4::params::ORBIT_RAD_MIN>) _param_orbit_rad_min,
+					(ParamFloat<px4::params::ORBIT_RAD_MAX>) _param_orbit_rad_max,
+					(ParamFloat<px4::params::ORBIT_VEL_MAX>) _param_orbit_vel_max
 				       )
 };
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit_params.c b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit_params.c
@@ -48,7 +48,7 @@
  * @decimal 1
  * @group FlightTaskOrbit
  */
-PARAM_DEFINE_FLOAT(FLT_ORB_A_MAX, 2.0f);
+PARAM_DEFINE_FLOAT(ORBIT_ACC_MAX, 2.0f);
 
 /**
  * Minimum radius of orbit
@@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(FLT_ORB_A_MAX, 2.0f);
  * @decimal 1
  * @group FlightTaskOrbit
  */
-PARAM_DEFINE_FLOAT(FLT_ORB_R_MIN, 1.0f);
+PARAM_DEFINE_FLOAT(ORBIT_RAD_MIN, 1.0f);
 
 /**
  * Maximum radius of orbit
@@ -72,7 +72,7 @@ PARAM_DEFINE_FLOAT(FLT_ORB_R_MIN, 1.0f);
  * @decimal 1
  * @group FlightTaskOrbit
  */
-PARAM_DEFINE_FLOAT(FLT_ORB_R_MAX, 400.0f);
+PARAM_DEFINE_FLOAT(ORBIT_RAD_MAX, 100.0f);
 
 /**
  * Maximum speed
@@ -84,4 +84,4 @@ PARAM_DEFINE_FLOAT(FLT_ORB_R_MAX, 400.0f);
  * @decimal 1
  * @group FlightTaskOrbit
  */
-PARAM_DEFINE_FLOAT(FLT_ORB_V_MAX, 10.0f);
+PARAM_DEFINE_FLOAT(ORBIT_VEL_MAX, 10.0f);