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mavlink_receiver: refactor forgotten manual_control_setpoint naming

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Matthias Grob
2022-11-28 19:25:55 +01:00
parent f16286f3eb
commit 5579e319ff
3 changed files with 22 additions and 22 deletions
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src/modules/airship_att_control/airship_att_control.hpp
+7 -7
View File
@@ -82,9 +82,9 @@ private:
void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
@@ -92,10 +92,10 @@ private:
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
vehicle_status_s _vehicle_status {}; /**< vehicle status */
actuator_controls_s _actuator_controls {}; /**< actuator controls */
manual_control_setpoint_s _manual_control_setpoint{};
vehicle_status_s _vehicle_status{};
actuator_controls_s _actuator_controls{};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_perf;
};
src/modules/airship_att_control/airship_att_control_main.cpp
+4 -4
View File
@@ -91,9 +91,9 @@ AirshipAttitudeControl::publish_actuator_controls()
} else {
_actuator_controls.control[0] = 0.0f;
_actuator_controls.control[1] = _manual_control_sp.x;
_actuator_controls.control[2] = _manual_control_sp.r;
_actuator_controls.control[3] = _manual_control_sp.z;
_actuator_controls.control[1] = _manual_control_setpoint.x;
_actuator_controls.control[2] = _manual_control_setpoint.r;
_actuator_controls.control[3] = _manual_control_setpoint.z;
}
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
@@ -150,7 +150,7 @@ AirshipAttitudeControl::Run()
publishThrustSetpoint(angular_velocity.timestamp_sample);
/* check for updates in manual control topic */
_manual_control_sp_sub.update(&_manual_control_sp);
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
/* check for updates in vehicle status topic */
_vehicle_status_sub.update(&_vehicle_status);