fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 19:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint

Browse Source
This commit is contained in:
Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 4becd6e4c7
commit 28e995ede2
2 changed files with 36 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+29
View File
@@ -660,6 +660,11 @@ void FixedwingAttitudeControl::Run()
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
_actuators_0_pub.publish(_actuators);
if (!_vehicle_status.is_vtol) {
publishTorqueSetpoint(angular_velocity.timestamp_sample);
publishThrustSetpoint(angular_velocity.timestamp_sample);
}
}
updateActuatorControlsStatus(dt);
@@ -668,6 +673,30 @@ void FixedwingAttitudeControl::Run()
perf_end(_loop_perf);
}
void FixedwingAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
{
vehicle_torque_setpoint_s v_torque_sp = {};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.timestamp_sample = timestamp_sample;
v_torque_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_ROLL];
v_torque_sp.xyz[1] = _actuators.control[actuator_controls_s::INDEX_PITCH];
v_torque_sp.xyz[2] = _actuators.control[actuator_controls_s::INDEX_YAW];
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
void FixedwingAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_sample)
{
vehicle_thrust_setpoint_s v_thrust_sp = {};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.timestamp_sample = timestamp_sample;
v_thrust_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_THROTTLE];
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
}
void FixedwingAttitudeControl::control_flaps(const float dt)
{
/* default flaps to center */