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fully replaced vehicle_attitude with control_state in mc_att_control

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This commit is contained in:
Youssef Demitri 2015-10-13 17:54:28 +02:00
parent 65837bdc98
commit 035216fc9c
1 changed files with 5 additions and 12 deletions
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17
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -75,7 +75,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
@ -128,7 +127,6 @@ private:
bool _task_should_exit; /**< if true, task_main() should exit */
int _control_task; /**< task handle */
int _v_att_sub; /**< vehicle attitude subscription */
int _ctrl_state_sub; /**< control state subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
@ -148,7 +146,6 @@ private:
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct control_state_s _ctrl_state; /**< control state */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
@ -306,7 +303,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_control_task(-1),
/* subscriptions */
_v_att_sub(-1),
_ctrl_state_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
@ -329,7 +325,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency"))
{
memset(&_v_att, 0, sizeof(_v_att));
memset(&_ctrl_state, 0, sizeof(_ctrl_state));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
@ -619,9 +614,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
math::Matrix<3, 3> R_sp;
R_sp.set(_v_att_sp.R_body);
/* rotation matrix for current state */
math::Matrix<3, 3> R;
R.set(_v_att.R);
/* get current rotation matrix from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
math::Matrix<3, 3> R = q_att.to_dcm();
/* all input data is ready, run controller itself */
@ -753,7 +748,6 @@ MulticopterAttitudeControl::task_main()
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
@ -768,7 +762,7 @@ MulticopterAttitudeControl::task_main()
/* wakeup source: vehicle attitude */
px4_pollfd_struct_t fds[1];
fds[0].fd = _v_att_sub;
fds[0].fd = _ctrl_state_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
@ -805,7 +799,6 @@ MulticopterAttitudeControl::task_main()
}
/* copy attitude and control state topics */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
/* check for updates in other topics */
@ -873,7 +866,7 @@ MulticopterAttitudeControl::task_main()
_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
_actuators.timestamp_sample = _ctrl_state.timestamp;
_controller_status.roll_rate_integ = _rates_int(0);
_controller_status.pitch_rate_integ = _rates_int(1);