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added support for offboard position setpoint in mc_pos_control

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This commit is contained in:
andre-nguyen
2014-06-03 21:45:29 -04:00
parent 1fc859b1b1
commit 55cf19b082
1 changed files with 22 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+22
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@@ -118,6 +118,7 @@ private:
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _offboard_control_pos_sp_sub; /**< offboard control position setpoint */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
@@ -132,6 +133,8 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct offboard_control_setpoint_s _offboard_control_pos_sp; /**< offboard control position setpoint
struct {
param_t thr_min;
@@ -277,6 +280,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
memset(&_offboard_control_pos_sp, 0, sizeof(_offboard_control_pos_sp));
memset(&_ref_pos, 0, sizeof(_ref_pos));
@@ -528,6 +532,7 @@ MulticopterPositionControl::task_main()
_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_offboard_control_pos_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
parameters_update(true);
@@ -664,6 +669,23 @@ MulticopterPositionControl::task_main()
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
} else if (_control_mode.flag_control_offboard_enabled) {
/* Offboard control */
/* Team elikos doesn't really know what it is doing */
bool updated;
orb_check(_offboard_control_pos_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), _offboard_control_pos_sp_sub,
&_offboard_control_pos_sp);
}
/* Hopefully no one dies from this */
pos(0) = _offboard_control_pos_sp.p1;
pos(1) = _offboard_control_pos_sp.p2;
pos(2) = _offboard_control_pos_sp.p4;
_att_sp.yaw_body = _offboard_control_pos_sp.p3;
} else {
/* AUTO */
bool updated;