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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/rover_pos_control/RoverPositionControl.cpp
+4 -4
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@@ -136,12 +136,12 @@ RoverPositionControl::manual_control_setpoint_poll()
} else {
const float yaw_rate = math::radians(_param_gnd_man_y_max.get());
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.y * yaw_rate;
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.chosen_input.y * yaw_rate;
_manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt);
}
_att_sp.yaw_body = _manual_yaw_sp;
_att_sp.thrust_body[0] = _manual_control_setpoint.z;
_att_sp.thrust_body[0] = _manual_control_setpoint.chosen_input.z;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
@@ -156,9 +156,9 @@ RoverPositionControl::manual_control_setpoint_poll()
_act_controls.control[actuator_controls_s::INDEX_PITCH] = 0.0f; // Nominally pitch: -_manual_control_setpoint.x;
// Set heading from the manual roll input channel
_act_controls.control[actuator_controls_s::INDEX_YAW] =
_manual_control_setpoint.y; // Nominally yaw: _manual_control_setpoint.r;
_manual_control_setpoint.chosen_input.y; // Nominally yaw: _manual_control_setpoint.r;
// Set throttle from the manual throttle channel
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.z;
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.chosen_input.z;
_reset_yaw_sp = true;
}