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Changed struct name used for local_pos_sp

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t0ni0
2014-06-08 15:22:04 -04:00
parent 2a79a9a4e4
commit 0a86fd0d9f
1 changed files with 9 additions and 12 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+9 -12
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@@ -118,7 +118,7 @@ private:
int _arming_sub; /**< arming status of outputs */ int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */ int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< position setpoint triplet */ int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _offboard_control_pos_sp_sub; /**< offboard control position setpoint */ int _local_pos_sp_sub; /**< offboard local position setpoint */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
@@ -133,7 +133,6 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct vehicle_local_position_setpoint_s _offboard_control_pos_sp; /**< offboard control position setpoint */
struct { struct {
@@ -280,7 +279,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet)); memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp)); memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_global_vel_sp, 0, sizeof(_global_vel_sp)); memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
memset(&_offboard_control_pos_sp, 0, sizeof(_offboard_control_pos_sp));
memset(&_ref_pos, 0, sizeof(_ref_pos)); memset(&_ref_pos, 0, sizeof(_ref_pos));
@@ -532,7 +530,7 @@ MulticopterPositionControl::task_main()
_arming_sub = orb_subscribe(ORB_ID(actuator_armed)); _arming_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_offboard_control_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); _local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
parameters_update(true); parameters_update(true);
@@ -671,26 +669,25 @@ MulticopterPositionControl::task_main()
} else if (_control_mode.flag_control_offboard_enabled) { } else if (_control_mode.flag_control_offboard_enabled) {
/* Offboard control */ /* Offboard control */
/* Team elikos doesn't really know what it is doing */
bool updated; bool updated;
orb_check(_offboard_control_pos_sp_sub, &updated); orb_check(_local_pos_sp_sub, &updated);
if (updated) { if (updated) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), _offboard_control_pos_sp_sub, orb_copy(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_sub,
&_offboard_control_pos_sp); &_local_pos_sp);
} }
/* Make sure position control is selected i.e. not only velocity control */ /* Make sure position control is selected i.e. not only velocity control */
if (_control_mode.flag_control_position_enabled) { if (_control_mode.flag_control_position_enabled) {
_pos_sp(0) = _offboard_control_pos_sp.x; _pos_sp(0) = _local_pos_sp.x;
_pos_sp(1) = _offboard_control_pos_sp.y; _pos_sp(1) = _local_pos_sp.y;
} }
if (_control_mode.flag_control_altitude_enabled) { if (_control_mode.flag_control_altitude_enabled) {
_pos_sp(2) = _offboard_control_pos_sp.z; _pos_sp(2) = _local_pos_sp.z;
} }
_att_sp.yaw_body = _offboard_control_pos_sp.yaw; _att_sp.yaw_body = _local_pos_sp.yaw;
} else { } else {
/* AUTO */ /* AUTO */