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Use uORB::Subscription for rover_pos_control

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Modernize rover position control
This commit is contained in:
Jaeyoung-Lim
2021-02-14 11:17:28 +01:00
committed by Lorenz Meier
parent 8d78b8a01d
commit 3c12573e93
2 changed files with 69 additions and 138 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+17 -15
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2017, 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -55,7 +55,9 @@
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
@@ -74,7 +76,7 @@ using matrix::Dcmf;
using namespace time_literals;
class RoverPositionControl : public ModuleBase<RoverPositionControl>, public ModuleParams
class RoverPositionControl final : public ModuleBase<RoverPositionControl>, public ModuleParams, public px4::WorkItem
{
public:
RoverPositionControl();
@@ -86,30 +88,29 @@ public:
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static RoverPositionControl *instantiate(int argc, char *argv[]);
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
bool init();
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; /**< navigation capabilities publication */
uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)}; /**< actuator controls publication */
int _control_mode_sub{-1}; /**< control mode subscription */
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _manual_control_setpoint_sub{-1}; /**< notification of manual control updates */
int _pos_sp_triplet_sub{-1};
int _att_sp_sub{-1};
int _vehicle_attitude_sub{-1};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< control mode subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
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_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{}; /**< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
@@ -182,6 +183,7 @@ private:
void attitude_setpoint_poll();
void vehicle_control_mode_poll();
void vehicle_attitude_poll();
void manual_control_setpoint_poll();
/**
* Control position.