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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/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -1
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@@ -1016,7 +1016,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
fabsf(_manual.r) < HDG_HOLD_MAN_INPUT_THRESH) {
/* heading / roll is zero, lock onto current heading */
if (fabsf(_att.yawspeed) < HDG_HOLD_YAWRATE_THRESH && !_yaw_lock_engaged) {
if (fabsf(_vehicle_rates_sub.get().xyz[2]) < HDG_HOLD_YAWRATE_THRESH && !_yaw_lock_engaged) {
// little yaw movement, lock to current heading
_yaw_lock_engaged = true;
@@ -1759,6 +1759,7 @@ FixedwingPositionControl::run()
vehicle_control_mode_poll();
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
vehicle_status_poll();
_vehicle_rates_sub.update();
Vector2f curr_pos((float)_global_pos.lat, (float)_global_pos.lon);
Vector2f ground_speed(_global_pos.vel_n, _global_pos.vel_e);
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2
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@@ -76,6 +76,7 @@
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/tecs_status.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_command.h>
@@ -163,6 +164,7 @@ private:
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription */
uORB::SubscriptionData<vehicle_angular_velocity_s> _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */