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mecanum: streamline flow of information

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chfriedrich98
2025-05-05 11:38:17 +02:00
committed by chfriedrich98
parent 04512ee91f
commit 4e17c5496c
4 changed files with 18 additions and 28 deletions
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src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.cpp
+2 -2
View File
@@ -75,7 +75,7 @@ void MecanumRateControl::updateRateControl()
if (_vehicle_control_mode.flag_control_rates_enabled && _vehicle_control_mode.flag_armed && runSanityChecks()) {
if (_vehicle_control_mode.flag_control_manual_enabled || _vehicle_control_mode.flag_control_offboard_enabled) {
generateRateSetpoint();
generateRateAndThrottleSetpoint();
}
generateSteeringSetpoint();
@@ -95,7 +95,7 @@ void MecanumRateControl::updateRateControl()
}
void MecanumRateControl::generateRateSetpoint()
void MecanumRateControl::generateRateAndThrottleSetpoint()
{
const bool acro_mode_enabled = _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_position_enabled && !_vehicle_control_mode.flag_control_attitude_enabled;
src/modules/rover_mecanum/MecanumRateControl/MecanumRateControl.hpp
+2 -3
View File
@@ -84,10 +84,9 @@ protected:
private:
/**
* @brief Generate and publish roverRateSetpoint from manualControlSetpoint (Acro Mode)
* or trajectorySetpoint (Offboard rate control).
* @brief Generate and publish roverRateSetpoint and roverThrottleSetpoint from manualControlSetpoint (Acro Mode).
*/
void generateRateSetpoint();
void generateRateAndThrottleSetpoint();
/**
* @brief Generate and publish roverSteeringSetpoint from RoverRateSetpoint.