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PositionControl: add getter for output position setpoint

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Matthias Grob
2019-10-22 18:38:47 +02:00
parent 9e309f62a9
commit 198605d258
3 changed files with 21 additions and 39 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+15 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 - 2019 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
@@ -351,6 +351,20 @@ void PositionControl::updateConstraints(const vehicle_constraints_s &constraints
}
}
void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint)
{
local_position_setpoint.x = _pos_sp(0);
local_position_setpoint.y = _pos_sp(1);
local_position_setpoint.z = _pos_sp(2);
local_position_setpoint.yaw = _yaw_sp;
local_position_setpoint.yawspeed = _yawspeed_sp;
local_position_setpoint.vx = _vel_sp(0);
local_position_setpoint.vy = _vel_sp(1);
local_position_setpoint.vz = _vel_sp(2);
_acc_sp.copyTo(local_position_setpoint.acceleration);
_thr_sp.copyTo(local_position_setpoint.thrust);
}
void PositionControl::updateParams()
{
ModuleParams::updateParams();