fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 02:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rename the invered state and make namespace more clear

Browse Source 
- Addressing review comments
This commit is contained in:
Simone Guscetti
2018-12-10 16:17:23 +01:00
committed by Dennis Mannhart
parent aac9221d95
commit 6938b7fe02
3 changed files with 10 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control.hpp
+1 -1
View File
@@ -186,7 +186,7 @@ private:
struct sensor_correction_s _sensor_correction {}; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias {}; /**< sensor in-run bias corrections */
struct vehicle_land_detected_s _vehicle_land_detected {};
struct landing_gear_s _landing_gear_state {};
struct landing_gear_s _landing_gear {};
MultirotorMixer::saturation_status _saturation_status{};
src/modules/mc_att_control/mc_att_control_main.cpp
+4 -4
View File
@@ -383,7 +383,7 @@ MulticopterAttitudeControl::landing_gear_state_poll()
orb_check(_landing_gear_sub, &updated);
if (updated) {
orb_copy(ORB_ID(landing_gear), _landing_gear_sub, &_landing_gear_state);
orb_copy(ORB_ID(landing_gear), _landing_gear_sub, &_landing_gear);
}
}
@@ -520,7 +520,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
_landing_gear_state.landing_gear = get_landing_gear_state();
_landing_gear.landing_gear = get_landing_gear_state();
attitude_setpoint.timestamp = landing_gear.timestamp = hrt_absolute_time();
orb_publish_auto(ORB_ID(vehicle_attitude_setpoint), &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);
@@ -773,7 +773,7 @@ MulticopterAttitudeControl::publish_actuator_controls()
_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.control[7] = (float)_landing_gear_state.landing_gear;
_actuators.control[7] = (float)_landing_gear.landing_gear;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _sensor_gyro.timestamp;
@@ -819,7 +819,7 @@ MulticopterAttitudeControl::run()
_sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_landing_gear_sub = orb_subscribe(ORB_ID(landing_gear));
_landing_gear_sub = orb_subscribe(ORB_ID(landing_gear));
/* wakeup source: gyro data from sensor selected by the sensor app */
px4_pollfd_struct_t poll_fds = {};