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sensors: create vehicle_angular_velocity module (#12596)

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* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
This commit is contained in:
Daniel Agar
2019-08-06 12:55:25 -04:00
committed by GitHub
parent bf0eaf4d54
commit 2ad12d7977
34 changed files with 784 additions and 382 deletions
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src/examples/segway/BlockSegwayController.cpp
+1 -1
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@@ -42,7 +42,7 @@ void BlockSegwayController::update()
Eulerf euler = Eulerf(Quatf(_att.get().q));
// compute speed command
float spdCmd = -th2v.update(euler.theta()) - q2v.update(_att.get().pitchspeed);
float spdCmd = -th2v.update(euler.theta()) - q2v.update(_angular_velocity.get().xyz[1]);
// handle autopilot modes
if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
src/examples/segway/blocks.cpp
+1
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@@ -89,6 +89,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
_param_update(ORB_ID(parameter_update), 1000, 0, &getSubscriptions()), // limit to 1 Hz
_missionCmd(ORB_ID(position_setpoint_triplet), 20, 0, &getSubscriptions()),
_att(ORB_ID(vehicle_attitude), 20, 0, &getSubscriptions()),
_angular_velocity(ORB_ID(vehicle_angular_velocity), 20, 0, &getSubscriptions()),
_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, 0, &getSubscriptions()),
_pos(ORB_ID(vehicle_global_position), 20, 0, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, 0, &getSubscriptions()),
src/examples/segway/blocks.hpp
+2
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@@ -52,6 +52,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -96,6 +97,7 @@ protected:
uORB::SubscriptionPollable<parameter_update_s> _param_update;
uORB::SubscriptionPollable<position_setpoint_triplet_s> _missionCmd;
uORB::SubscriptionPollable<vehicle_attitude_s> _att;
uORB::SubscriptionPollable<vehicle_angular_velocity_s> _angular_velocity;
uORB::SubscriptionPollable<vehicle_attitude_setpoint_s> _attCmd;
uORB::SubscriptionPollable<vehicle_global_position_s> _pos;
uORB::SubscriptionPollable<vehicle_rates_setpoint_s> _ratesCmd;