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manual_control_setpoint: change stick axes naming

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In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.

I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.

While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
This commit is contained in:
Matthias Grob
2022-06-27 18:16:05 +02:00
parent 83246c84cf
commit 331cb21dee
20 changed files with 118 additions and 133 deletions
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src/drivers/actuators/modalai_esc/modalai_esc.cpp
+6 -6
View File
@@ -892,9 +892,9 @@ void ModalaiEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
const float flip_pwr_mult = 1.0f - ((float)_parameters.turtle_motor_expo / 100.0f);
// Sitck deflection
const float stick_def_p_abs = fabsf(_manual_control_setpoint.x);
const float stick_def_r_abs = fabsf(_manual_control_setpoint.y);
const float stick_def_y_abs = fabsf(_manual_control_setpoint.r);
const float stick_def_r_abs = fabsf(_manual_control_setpoint.roll);
const float stick_def_p_abs = fabsf(_manual_control_setpoint.pitch);
const float stick_def_y_abs = fabsf(_manual_control_setpoint.yaw);
const float stick_def_p_expo = flip_pwr_mult * stick_def_p_abs + powf(stick_def_p_abs,
3.0) * (1 - flip_pwr_mult);
@@ -903,9 +903,9 @@ void ModalaiEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
const float stick_def_y_expo = flip_pwr_mult * stick_def_y_abs + powf(stick_def_y_abs,
3.0) * (1 - flip_pwr_mult);
float sign_p = _manual_control_setpoint.x < 0 ? 1 : -1;
float sign_r = _manual_control_setpoint.y < 0 ? 1 : -1;
float sign_y = _manual_control_setpoint.r < 0 ? 1 : -1;
float sign_r = _manual_control_setpoint.roll < 0 ? 1 : -1;
float sign_p = _manual_control_setpoint.pitch < 0 ? 1 : -1;
float sign_y = _manual_control_setpoint.yaw < 0 ? 1 : -1;
float stick_def_len = sqrtf(powf(stick_def_p_abs, 2.0) + powf(stick_def_r_abs, 2.0));
float stick_def_expo_len = sqrtf(powf(stick_def_p_expo, 2.0) + powf(stick_def_r_expo, 2.0));