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cleaned up

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This commit is contained in:
Roman Bapst 2014-11-10 17:01:59 +01:00
parent a2ec2ec857
commit 0acdf5927b
1 changed files with 35 additions and 9 deletions
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44
src/modules/mc_att_control/mc_att_control_base.cpp
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@ -1,8 +1,39 @@
/*
* mc_att_control_base.cpp
/* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mc_att_control_base.h
*
* @author Roman Bapst <bapstr@ethz.ch>
*
* Created on: Sep 25, 2014
* Author: roman
*/
#include "mc_att_control_base.h"
@ -308,11 +339,9 @@ void MulticopterAttitudeControlBase::set_actuator_controls() {
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
//_actuators.timestamp = hrt_absolute_time();
}
void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) {
// check if this is consistent !!!
math::Quaternion quat;
quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x();
@ -336,7 +365,6 @@ void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double
_v_att.R[2][2] = Rot(2,2);
_v_att.R_valid = true;
}
void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
@ -344,7 +372,6 @@ void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& a
_v_att.rollspeed = angular_rate(0);
_v_att.pitchspeed = angular_rate(1);
_v_att.yawspeed = angular_rate(2);
}
void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
@ -365,7 +392,6 @@ void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4
_v_att_sp.R_body[0][2] = Rot_sp(0,2);
_v_att_sp.R_body[1][2] = Rot_sp(1,2);
_v_att_sp.R_body[2][2] = Rot_sp(2,2);
}
void MulticopterAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) {