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GotoControl: make interface over uORB

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This commit is contained in:
Matthias Grob
2023-11-23 14:53:02 +01:00
parent 96a81c22e3
commit 3de6fee07f
5 changed files with 65 additions and 47 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+2 -7
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@@ -58,7 +58,6 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/hover_thrust_estimate.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/goto_setpoint.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_constraints.h>
@@ -97,14 +96,12 @@ private:
uORB::PublicationData<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */
uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)}; /**< vehicle local position */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
uORB::Subscription _goto_setpoint_sub{ORB_ID(goto_setpoint)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _vehicle_constraints_sub{ORB_ID(vehicle_constraints)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -113,7 +110,6 @@ private:
hrt_abstime _time_stamp_last_loop{0}; /**< time stamp of last loop iteration */
hrt_abstime _time_position_control_enabled{0};
goto_setpoint_s _goto_setpoint{};
trajectory_setpoint_s _setpoint{PositionControl::empty_trajectory_setpoint};
vehicle_control_mode_s _vehicle_control_mode{};
@@ -132,8 +128,6 @@ private:
.landed = true,
};
GotoControl _goto_control{this};
DEFINE_PARAMETERS(
// Position Control
(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p,
@@ -190,7 +184,8 @@ private:
control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
PositionControl _control; /**< class for core PID position control */
GotoControl _goto_control{this}; ///< class for handling smooth goto position setpoints
PositionControl _control; ///< class for core PID position control
hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */