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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+13 -13
View File
@@ -141,14 +141,14 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
const float throttle = (_manual_control_setpoint.z + 1.f) * .5f;
const float throttle = (_manual_control_setpoint.throttle + 1.f) * .5f;
if (_vcontrol_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
_att_sp.roll_body = _manual_control_setpoint.roll * radians(_param_fw_man_r_max.get());
_att_sp.pitch_body = -_manual_control_setpoint.x * radians(_param_fw_man_p_max.get())
_att_sp.pitch_body = -_manual_control_setpoint.pitch * radians(_param_fw_man_p_max.get())
+ radians(_param_fw_psp_off.get());
_att_sp.pitch_body = constrain(_att_sp.pitch_body,
-radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get()));
@@ -170,9 +170,9 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
// RATE mode we need to generate the rate setpoint from manual user inputs
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp.roll = _manual_control_setpoint.y * radians(_param_fw_acro_x_max.get());
_rates_sp.pitch = -_manual_control_setpoint.x * radians(_param_fw_acro_y_max.get());
_rates_sp.yaw = _manual_control_setpoint.r * radians(_param_fw_acro_z_max.get());
_rates_sp.roll = _manual_control_setpoint.roll * radians(_param_fw_acro_x_max.get());
_rates_sp.pitch = -_manual_control_setpoint.pitch * radians(_param_fw_acro_y_max.get());
_rates_sp.yaw = _manual_control_setpoint.yaw * radians(_param_fw_acro_z_max.get());
_rates_sp.thrust_body[0] = throttle;
_rate_sp_pub.publish(_rates_sp);
@@ -180,13 +180,13 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
} else {
/* manual/direct control */
_actuator_controls.control[actuator_controls_s::INDEX_ROLL] =
_manual_control_setpoint.y * _param_fw_man_r_sc.get() + _param_trim_roll.get();
_manual_control_setpoint.roll * _param_fw_man_r_sc.get() + _param_trim_roll.get();
_actuator_controls.control[actuator_controls_s::INDEX_PITCH] =
-_manual_control_setpoint.x * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
-_manual_control_setpoint.pitch * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
_actuator_controls.control[actuator_controls_s::INDEX_YAW] =
_manual_control_setpoint.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
_manual_control_setpoint.yaw * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] = throttle;
_landing_gear_wheel.normalized_wheel_setpoint = _manual_control_setpoint.r;
_landing_gear_wheel.normalized_wheel_setpoint = _manual_control_setpoint.yaw;
}
}
}
@@ -551,7 +551,7 @@ void FixedwingAttitudeControl::Run()
/* add yaw rate setpoint from sticks in all attitude-controlled modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_man_yr_max.get()),
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_man_yr_max.get()),
-radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
}
@@ -593,11 +593,11 @@ void FixedwingAttitudeControl::Run()
if (_vcontrol_mode.flag_control_manual_enabled) {
// always direct control of steering wheel with yaw stick in manual modes
wheel_u = _manual_control_setpoint.r;
wheel_u = _manual_control_setpoint.yaw;
} else {
// XXX: yaw_sp_move_rate here is an abuse -- used to ferry manual yaw inputs from
// position controller during auto modes _manual_control_setpoint.r gets passed
// position controller during auto modes _manual_control_setpoint.yaw gets passed
// whenever nudging is enabled, otherwise zero
wheel_u = wheel_control ? _wheel_ctrl.control_bodyrate(dt, control_input)
+ _att_sp.yaw_sp_move_rate : 0.f;