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mc_att_control: inline control attitude call and rate publication

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- this makes it clear that we didn't need to keep local copies of the rate setpoint
This commit is contained in:
Daniel Agar
2020-08-10 14:07:42 -04:00
parent 14f734ac15
commit 5e739f66d6
2 changed files with 16 additions and 39 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+16 -30
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@@ -220,31 +220,6 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
}
/**
* Attitude controller.
* Input: 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector
*/
void
MulticopterAttitudeControl::control_attitude()
{
_rates_sp = _attitude_control.update(Quatf(_v_att.q));
}
void
MulticopterAttitudeControl::publish_rates_setpoint()
{
vehicle_rates_setpoint_s v_rates_sp{};
v_rates_sp.roll = _rates_sp(0);
v_rates_sp.pitch = _rates_sp(1);
v_rates_sp.yaw = _rates_sp(2);
_thrust_setpoint_body.copyTo(v_rates_sp.thrust_body);
v_rates_sp.timestamp = hrt_absolute_time();
_v_rates_sp_pub.publish(v_rates_sp);
}
void
MulticopterAttitudeControl::Run()
{
@@ -333,16 +308,27 @@ MulticopterAttitudeControl::Run()
_man_y_input_filter.reset(0.f);
}
control_attitude();
Vector3f rates_sp = _attitude_control.update(Quatf(_v_att.q));
if (_v_control_mode.flag_control_yawrate_override_enabled) {
/* Yaw rate override enabled, overwrite the yaw setpoint */
_v_rates_sp_sub.update(&_v_rates_sp);
const auto yawrate_reference = _v_rates_sp.yaw;
_rates_sp(2) = yawrate_reference;
vehicle_rates_setpoint_s v_rates_sp{};
if (_v_rates_sp_sub.copy(&v_rates_sp)) {
const auto yawrate_reference = v_rates_sp.yaw;
rates_sp(2) = yawrate_reference;
}
}
publish_rates_setpoint();
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};
v_rates_sp.roll = rates_sp(0);
v_rates_sp.pitch = rates_sp(1);
v_rates_sp.yaw = rates_sp(2);
_thrust_setpoint_body.copyTo(v_rates_sp.thrust_body);
v_rates_sp.timestamp = hrt_absolute_time();
_v_rates_sp_pub.publish(v_rates_sp);
}
// reset yaw setpoint during transitions, tailsitter.cpp generates