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publish control state from attitude_estimator_q

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This commit is contained in:
Youssef Demitri
2015-10-10 18:16:17 +02:00
parent 5ee9bb5363
commit 65837bdc98
1 changed files with 27 additions and 6 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+27 -6
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@@ -53,6 +53,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h>
@@ -116,6 +117,7 @@ private:
int _params_sub = -1;
int _global_pos_sub = -1;
orb_advert_t _att_pub = nullptr;
orb_advert_t _ctrl_state_pub = nullptr;
struct {
param_t w_acc;
@@ -417,11 +419,8 @@ void AttitudeEstimatorQ::task_main()
att.pitch = euler(1);
att.yaw = euler(2);
/* the complimentary filter should reflect the true system
* state, but we need smoother outputs for the control system
*/
att.rollspeed = _lp_roll_rate.apply(_rates(0));
att.pitchspeed = _lp_pitch_rate.apply(_rates(1));
att.rollspeed = _rates(0);
att.pitchspeed = _rates(1);
att.yawspeed = _rates(2);
for (int i = 0; i < 3; i++) {
@@ -446,6 +445,29 @@ void AttitudeEstimatorQ::task_main()
} else {
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &att);
}
struct control_state_s ctrl_state = {};
ctrl_state.timestamp = sensors.timestamp;
/* Attitude quaternions for control state */
ctrl_state.q[0] = _q(0);
ctrl_state.q[1] = _q(1);
ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3);
/* Attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
ctrl_state.roll_rate = _rates(2);
/* Publish to control state topic */
if (_ctrl_state_pub == nullptr)
{
_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
} else {
orb_publish(ORB_ID(control_state), _ctrl_state_pub, &ctrl_state);
}
}
}
@@ -571,7 +593,6 @@ bool AttitudeEstimatorQ::update(float dt) {
return true;
}
int attitude_estimator_q_main(int argc, char *argv[]) {
if (argc < 1) {
warnx("usage: attitude_estimator_q {start|stop|status}");