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vtol_att_control: shorter elapsed time calculation

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Balduin 2025-03-26 15:52:58 +01:00 committed by Silvan Fuhrer
parent 898d631b24
commit 19d3e6285b
2 changed files with 11 additions and 3 deletions
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13
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -427,9 +427,16 @@ VtolAttitudeControl::Run()
_vehicle_thrust_setpoint0_pub.publish(_thrust_setpoint_0);
_vehicle_thrust_setpoint1_pub.publish(_thrust_setpoint_1);
// Advertise/Publish vtol vehicle status
_vtol_vehicle_status.timestamp = hrt_absolute_time();
_vtol_vehicle_status_pub.publish(_vtol_vehicle_status);
// Advertise/publish vtol vehicle status -- immediately if changed, otherwise at 1 Hz
const bool vtol_vehicle_status_changed =
(_vtol_vehicle_status.vehicle_vtol_state != _prev_published_vtol_vehicle_status.vehicle_vtol_state) ||
(_vtol_vehicle_status.fixed_wing_system_failure != _prev_published_vtol_vehicle_status.fixed_wing_system_failure);
if (vtol_vehicle_status_changed || hrt_elapsed_time(&_prev_published_vtol_vehicle_status.timestamp) >= 1_s) {
_vtol_vehicle_status.timestamp = hrt_absolute_time();
_vtol_vehicle_status_pub.publish(_vtol_vehicle_status);
_prev_published_vtol_vehicle_status = _vtol_vehicle_status;
}
// Publish flaps/spoiler setpoint with configured deflection in Hover if in Auto.
// In Manual always published in FW rate controller, and in Auto FW in FW Position Controller.

1
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@ -205,6 +205,7 @@ private:
vehicle_local_position_setpoint_s _local_pos_sp{};
vehicle_status_s _vehicle_status{};
vtol_vehicle_status_s _vtol_vehicle_status{};
vtol_vehicle_status_s _prev_published_vtol_vehicle_status{};
float _home_position_z{NAN};
float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos}; // [kg/m^3]