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added dyn soar position setpoint message

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This commit is contained in:
Marvin Harms
2022-06-06 18:29:55 +02:00
parent c44c387b6d
commit 3cb0418e0b
10 changed files with 83 additions and 21 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+8 -1
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@@ -63,6 +63,7 @@
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/soaring_controller_heartbeat.h>
#include <uORB/topics/soaring_controller_position_setpoint.h>
#include <uORB/topics/soaring_controller_status.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/wind.h>
@@ -128,6 +129,7 @@ private:
uORB::Publication<vehicle_angular_acceleration_setpoint_s> _angular_accel_sp_pub{ORB_ID(vehicle_angular_acceleration_setpoint)};
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<soaring_controller_heartbeat_s> _soaring_controller_heartbeat_pub{ORB_ID(soaring_controller_status)};
uORB::Publication<soaring_controller_position_setpoint_s> _soaring_controller_position_setpoint_pub{ORB_ID(soaring_controller_position_setpoint)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
// Message structs
@@ -147,6 +149,7 @@ private:
vehicle_status_s _vehicle_status {}; ///< vehicle status
soaring_controller_status_s _soaring_controller_status {}; ///< soaring controller status
soaring_controller_heartbeat_s _soaring_controller_heartbeat{}; ///< soaring controller hrt
soaring_controller_position_setpoint_s _soaring_controller_position_setpoint{}; ///< soaring controller pos setpoint
// parameter struct
DEFINE_PARAMETERS(
@@ -196,7 +199,9 @@ private:
// location params
(ParamFloat<px4::params::ORIGIN_LAT>) _param_origin_lat,
(ParamFloat<px4::params::ORIGIN_LON>) _param_origin_lon,
(ParamFloat<px4::params::ORIGIN_ALT>) _param_origin_alt
(ParamFloat<px4::params::ORIGIN_ALT>) _param_origin_alt,
// loiter params
(ParamInt<px4::params::LOITER>) _param_loiter
)
@@ -326,6 +331,8 @@ private:
float _origin_N;
float _origin_E;
float _origin_D;
// loiter circle
int _loiter;
bool _airspeed_valid{false}; ///< flag if a valid airspeed estimate exists
hrt_abstime _airspeed_last_valid{0}; ///< last time airspeed was received. Used to detect timeouts.