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msg: re-use manual_control_input in setpoint

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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent baf81abbab
commit 6a6b8d49fc
21 changed files with 125 additions and 168 deletions
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src/modules/commander/Commander.cpp
+2 -2
View File
@@ -2420,8 +2420,8 @@ Commander::run()
}
_status.rc_signal_lost = false;
_is_throttle_above_center = manual_control_setpoint.z > 0.6f;
_is_throttle_low = manual_control_setpoint.z < 0.1f;
_is_throttle_above_center = manual_control_setpoint.chosen_input.z > 0.6f;
_is_throttle_low = manual_control_setpoint.chosen_input.z < 0.1f;
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
} else {
src/modules/commander/rc_calibration.cpp
+3 -3
View File
@@ -85,15 +85,15 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
/* set parameters: the new trim values are the combination of active trim values
and the values coming from the remote control of the user
*/
float p = manual_control_setpoint.y * roll_scale + roll_trim_active;
float p = manual_control_setpoint.chosen_input.y * roll_scale + roll_trim_active;
int p1r = param_set(param_find("TRIM_ROLL"), &p);
/*
we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs
*/
p = -manual_control_setpoint.x * pitch_scale + pitch_trim_active;
p = -manual_control_setpoint.chosen_input.x * pitch_scale + pitch_trim_active;
int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = manual_control_setpoint.r * yaw_scale + yaw_trim_active;
p = manual_control_setpoint.chosen_input.r * yaw_scale + yaw_trim_active;
int p3r = param_set(param_find("TRIM_YAW"), &p);
if (p1r != 0 || p2r != 0 || p3r != 0) {