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feat: pushing modularity

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Pedro-Roque 2025-02-05 18:28:08 +01:00
parent fa4189f669
commit 05e5700da6
2 changed files with 21 additions and 16 deletions
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35
src/modules/spacecraft/SpacecraftHandler.cpp
View File

@ -80,26 +80,29 @@ void SpacecraftHandler::Run()
manual_control_setpoint_s manual_control_setpoint{};
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
rover_differential_setpoint_s rover_differential_setpoint{};
rover_differential_setpoint.timestamp = timestamp;
rover_differential_setpoint.forward_speed_setpoint = NAN;
rover_differential_setpoint.forward_speed_setpoint_normalized = manual_control_setpoint.throttle;
rover_differential_setpoint.yaw_setpoint = NAN;
_thrust_setpoint(0) = math::constrain((manual_control_setpoint.pitch * _manual_force_max), -1.f, 1.f);
_thrust_setpoint(1) = math::constrain((manual_control_setpoint.roll * _manual_force_max), -1.f, 1.f);
_thrust_setpoint(2) = 0.0;
if (_max_yaw_rate > FLT_EPSILON && _param_rd_max_thr_yaw_r.get() > FLT_EPSILON) {
const float scaled_yaw_rate_input = math::interpolate<float>(manual_control_setpoint.roll,
-1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
const float speed_diff = scaled_yaw_rate_input * _param_rd_wheel_track.get() / 2.f;
rover_differential_setpoint.speed_diff_setpoint_normalized = math::interpolate<float>(speed_diff,
-_param_rd_max_thr_yaw_r.get(), _param_rd_max_thr_yaw_r.get(), -1.f, 1.f);
_torque_setpoint(0) = _torque_setpoint(1) = 0.0;
_torque_setpoint(2) = math::constrain((manual_control_setpoint.yaw * _manual_torque_max), -1.f, 1.f);
// publish thrust and torque setpoints
vehicle_thrust_setpoint_s vehicle_thrust_setpoint{};
vehicle_torque_setpoint_s vehicle_torque_setpoint{};
} else {
rover_differential_setpoint.speed_diff_setpoint_normalized = manual_control_setpoint.roll;
_thrust_setpoint.copyTo(vehicle_thrust_setpoint.xyz);
_torque_setpoint.copyTo(vehicle_torque_setpoint.xyz);
}
vehicle_thrust_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
vehicle_thrust_setpoint.timestamp = hrt_absolute_time();
rover_differential_setpoint.yaw_rate_setpoint = NAN;
_rover_differential_setpoint_pub.publish(rover_differential_setpoint);
vehicle_torque_setpoint.timestamp = hrt_absolute_time();
vehicle_torque_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
_vehicle_thrust_setpoint_pub.publish(vehicle_thrust_setpoint);
_vehicle_torque_setpoint_pub.publish(vehicle_torque_setpoint);
updateActuatorControlsStatus(vehicle_torque_setpoint, dt);
}
} break;

2
src/modules/spacecraft/SpacecraftHandler.hpp
View File

@ -99,6 +99,8 @@ private:
*/
void updateSubscriptions();
void updateActuatorControlsStatus(const vehicle_torque_setpoint_s &vehicle_torque_setpoint, float dt);
// uORB Subscriptions
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};