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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/modules/commander/rc_calibration.cpp
+3 -3
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@@ -85,15 +85,15 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
/* set parameters: the new trim values are the combination of active trim values
and the values coming from the remote control of the user
*/
float p = manual_control_setpoint.y * roll_scale + roll_trim_active;
float p = manual_control_setpoint.roll * roll_scale + roll_trim_active;
int p1r = param_set(param_find("TRIM_ROLL"), &p);
/*
we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs
*/
p = -manual_control_setpoint.x * pitch_scale + pitch_trim_active;
p = -manual_control_setpoint.pitch * pitch_scale + pitch_trim_active;
int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = manual_control_setpoint.r * yaw_scale + yaw_trim_active;
p = manual_control_setpoint.yaw * yaw_scale + yaw_trim_active;
int p3r = param_set(param_find("TRIM_YAW"), &p);
if (p1r != 0 || p2r != 0 || p3r != 0) {