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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/flight_mode_manager/tasks/Utility/Sticks.cpp
+4 -4
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@@ -51,11 +51,11 @@ bool Sticks::checkAndSetStickInputs()
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
// Linear scale
_positions(0) = manual_control_setpoint.x; // NED x, pitch [-1,1]
_positions(1) = manual_control_setpoint.y; // NED y, roll [-1,1]
_positions(2) = -(math::constrain(manual_control_setpoint.z, 0.0f,
_positions(0) = manual_control_setpoint.chosen_input.x; // NED x, pitch [-1,1]
_positions(1) = manual_control_setpoint.chosen_input.y; // NED y, roll [-1,1]
_positions(2) = -(math::constrain(manual_control_setpoint.chosen_input.z, 0.0f,
1.0f) - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
_positions(3) = manual_control_setpoint.r; // yaw [-1,1]
_positions(3) = manual_control_setpoint.chosen_input.r; // yaw [-1,1]
// Exponential scale
_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());