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rover: publish actuator controls with rate of gyro

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Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
This commit is contained in:
benjinne
2021-04-26 08:53:20 +02:00
committed by GitHub
parent cc81c7d49e
commit 3664d9e4ce
2 changed files with 19 additions and 5 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+3 -1
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@@ -67,6 +67,7 @@
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
@@ -99,7 +100,7 @@ public:
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -112,6 +113,7 @@ private:
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};