fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 10:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

manual_control_setpoint: change stick axes naming

Browse Source 
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/manual_control/ManualControl.cpp
+11 -11
View File
@@ -162,10 +162,10 @@ void ManualControl::Run()
const float dt_s = (now - _last_time) / 1e6f;
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
_selector.setpoint().sticks_moving = (fabsf(_x_diff.update(_selector.setpoint().x, dt_s)) > minimum_stick_change)
|| (fabsf(_y_diff.update(_selector.setpoint().y, dt_s)) > minimum_stick_change)
|| (fabsf(_z_diff.update(_selector.setpoint().z, dt_s)) > minimum_stick_change)
|| (fabsf(_r_diff.update(_selector.setpoint().r, dt_s)) > minimum_stick_change);
_selector.setpoint().sticks_moving = (fabsf(_roll_diff.update(_selector.setpoint().roll, dt_s)) > minimum_stick_change)
|| (fabsf(_pitch_diff.update(_selector.setpoint().pitch, dt_s)) > minimum_stick_change)
|| (fabsf(_yaw_diff.update(_selector.setpoint().yaw, dt_s)) > minimum_stick_change)
|| (fabsf(_throttle_diff.update(_selector.setpoint().throttle, dt_s)) > minimum_stick_change);
if (switches_updated) {
// Only use switches if current source is RC as well.
@@ -310,10 +310,10 @@ void ManualControl::Run()
_manual_control_setpoint_pub.publish(_selector.setpoint());
}
_x_diff.reset();
_y_diff.reset();
_z_diff.reset();
_r_diff.reset();
_roll_diff.reset();
_pitch_diff.reset();
_yaw_diff.reset();
_throttle_diff.reset();
_stick_arm_hysteresis.set_state_and_update(false, now);
_stick_disarm_hysteresis.set_state_and_update(false, now);
_button_hysteresis.set_state_and_update(false, now);
@@ -330,8 +330,8 @@ void ManualControl::Run()
void ManualControl::processStickArming(const manual_control_setpoint_s &input)
{
// Arm gesture
const bool right_stick_centered = (fabsf(input.x) < 0.1f) && (fabsf(input.y) < 0.1f);
const bool left_stick_lower_right = (input.z < -0.8f) && (input.r > 0.9f);
const bool right_stick_centered = (fabsf(input.pitch) < 0.1f) && (fabsf(input.roll) < 0.1f);
const bool left_stick_lower_right = (input.throttle < -0.8f) && (input.yaw > 0.9f);
const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
_stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp);
@@ -341,7 +341,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
}
// Disarm gesture
const bool left_stick_lower_left = (input.z < -0.8f) && (input.r < -0.9f);
const bool left_stick_lower_left = (input.throttle < -0.8f) && (input.yaw < -0.9f);
const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
_stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp);