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Changed yaw position control to yaw speed control for multirotors, tested with ardrone

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This commit is contained in:
Julian Oes
2012-11-19 16:17:52 -08:00
parent 2652b16d37
commit 129e6d73de
4 changed files with 43 additions and 18 deletions
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apps/sensors/sensors.cpp
+17 -13
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@@ -151,6 +151,7 @@ private:
int _baro_sub; /**< raw baro data subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
orb_advert_t _sensor_pub; /**< combined sensor data topic */
orb_advert_t _manual_control_pub; /**< manual control signal topic */
@@ -341,6 +342,7 @@ Sensors::Sensors() :
_baro_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
/* publications */
_sensor_pub(-1),
@@ -903,6 +905,9 @@ Sensors::ppm_poll()
struct manual_control_setpoint_s manual_control;
/* get a copy first, to prevent altering values */
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &manual_control);
/* require at least four channels to consider the signal valid */
if (rc_input.channel_count < 4)
return;
@@ -1023,6 +1028,7 @@ Sensors::task_main()
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
@@ -1052,20 +1058,18 @@ Sensors::task_main()
_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
/* advertise the manual_control topic */
{
struct manual_control_setpoint_s manual_control;
manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE;
manual_control.roll = 0.0f;
manual_control.pitch = 0.0f;
manual_control.yaw = 0.0f;
manual_control.throttle = 0.0f;
manual_control.aux1_cam_pan_flaps = 0.0f;
manual_control.aux2_cam_tilt = 0.0f;
manual_control.aux3_cam_zoom = 0.0f;
manual_control.aux4_cam_roll = 0.0f;
struct manual_control_setpoint_s manual_control;
manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE;
manual_control.roll = 0.0f;
manual_control.pitch = 0.0f;
manual_control.yaw = 0.0f;
manual_control.throttle = 0.0f;
manual_control.aux1_cam_pan_flaps = 0.0f;
manual_control.aux2_cam_tilt = 0.0f;
manual_control.aux3_cam_zoom = 0.0f;
manual_control.aux4_cam_roll = 0.0f;
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
/* advertise the rc topic */
{