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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
2021-06-10 10:56:27 +02:00
committed by Matthias Grob
parent baf81abbab
commit 6a6b8d49fc
21 changed files with 125 additions and 168 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+4 -4
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@@ -172,12 +172,12 @@ MulticopterRateControl::Run()
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
// manual rates control - ACRO mode
const Vector3f man_rate_sp{
math::superexpo(manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(-manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
math::superexpo(manual_control_setpoint.chosen_input.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(-manual_control_setpoint.chosen_input.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(manual_control_setpoint.chosen_input.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
_rates_sp = man_rate_sp.emult(_acro_rate_max);
_thrust_sp = math::constrain(manual_control_setpoint.z, 0.0f, 1.0f);
_thrust_sp = math::constrain(manual_control_setpoint.chosen_input.z, 0.0f, 1.0f);
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};