70 (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
71 (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
72 (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
void _updateTrajConstraintsZ()
ManualVelocitySmoothingXY _smoothing_xy
Smoothing in x and y directions.
void _updateTrajVelFeedback()
void _ekfResetHandlerVelocityXY() override
void reActivate() override
Call this to reset an active Flight Task.
ManualVelocitySmoothingZ _smoothing_z
Smoothing in z direction.
Flight task for manual position controlled mode.
virtual void _updateSetpoints() override
updates all setpoints
void _ekfResetHandlerPositionZ() override
FlightTaskManualPositionSmoothVel()=default
void _ekfResetHandlerVelocityZ() override
void _updateTrajCurrentPositionEstimate()
bool activate(vehicle_local_position_setpoint_s last_setpoint) override
Call once on the event where you switch to the task.
Vector2< float > Vector2f
virtual ~FlightTaskManualPositionSmoothVel()=default
void _updateTrajConstraintsXY()
Vector3< float > Vector3f
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,(ParamFloat< px4::params::MPC_JERK_MAX >) _param_mpc_jerk_max,(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 _updateTrajConstraints()
void _ekfResetHandlerPositionXY() override
Reset position or velocity setpoints in case of EKF reset event.
void _updateTrajectories(Vector3f vel_target)