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Standardize variable naming and formatting across vehicle attitude controller files.

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This commit is contained in:
mcsauder
2022-05-21 12:22:18 -04:00
committed by Daniel Agar
parent 422be90140
commit 6b0788ff46
12 changed files with 240 additions and 241 deletions
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src/modules/airship_att_control/airship_att_control.hpp
+12 -17
View File
@@ -46,11 +46,6 @@
using namespace time_literals;
/**
* Airship attitude control app start / stop handling function
*/
extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[]);
class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
public px4::WorkItem
{
@@ -80,27 +75,27 @@ private:
/**
* Check for parameter update and handle it.
*/
void parameter_update_poll();
void parameter_update_poll();
void publish_actuator_controls();
void publish_actuator_controls();
void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
uORB::Publication<actuator_controls_s> _actuator_controls_0_pub;
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
struct actuator_controls_s _actuators {}; /**< actuator controls */
manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
vehicle_status_s _vehicle_status {}; /**< vehicle status */
actuator_controls_s _actuator_controls {}; /**< actuator controls */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_perf; /**< loop performance counter */
};
src/modules/airship_att_control/airship_att_control_main.cpp
+19 -16
View File
@@ -45,7 +45,7 @@ using namespace matrix;
AirshipAttitudeControl::AirshipAttitudeControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_actuators_0_pub(ORB_ID(actuator_controls_0)),
_actuator_controls_0_pub(ORB_ID(actuator_controls_0)),
_loop_perf(perf_alloc(PC_ELAPSED, "airship_att_control"))
{
}
@@ -86,20 +86,20 @@ AirshipAttitudeControl::publish_actuator_controls()
// zero actuators if not armed
if (_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
for (uint8_t i = 0 ; i < 4 ; i++) {
_actuators.control[i] = 0.0f;
_actuator_controls.control[i] = 0.0f;
}
} else {
_actuators.control[0] = 0.0f;
_actuators.control[1] = _manual_control_sp.x;
_actuators.control[2] = _manual_control_sp.r;
_actuators.control[3] = _manual_control_sp.z;
_actuator_controls.control[0] = 0.0f;
_actuator_controls.control[1] = _manual_control_sp.x;
_actuator_controls.control[2] = _manual_control_sp.r;
_actuator_controls.control[3] = _manual_control_sp.z;
}
// note: _actuators.timestamp_sample is set in AirshipAttitudeControl::Run()
_actuators.timestamp = hrt_absolute_time();
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
_actuator_controls.timestamp = hrt_absolute_time();
_actuators_0_pub.publish(_actuators);
_actuator_controls_0_pub.publish(_actuator_controls);
}
void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
@@ -107,9 +107,9 @@ void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_
vehicle_torque_setpoint_s v_torque_sp = {};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.timestamp_sample = timestamp_sample;
v_torque_sp.xyz[0] = _actuators.control[0];
v_torque_sp.xyz[1] = _actuators.control[1];
v_torque_sp.xyz[2] = _actuators.control[2];
v_torque_sp.xyz[0] = _actuator_controls.control[0];
v_torque_sp.xyz[1] = _actuator_controls.control[1];
v_torque_sp.xyz[2] = _actuator_controls.control[2];
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
@@ -119,7 +119,7 @@ void AirshipAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_
vehicle_thrust_setpoint_s v_thrust_sp = {};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.timestamp_sample = timestamp_sample;
v_thrust_sp.xyz[0] = _actuators.control[3];
v_thrust_sp.xyz[0] = _actuator_controls.control[3];
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
@@ -142,7 +142,7 @@ AirshipAttitudeControl::Run()
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
_actuators.timestamp_sample = angular_velocity.timestamp_sample;
_actuator_controls.timestamp_sample = angular_velocity.timestamp_sample;
/* run the rate controller immediately after a gyro update */
publish_actuator_controls();
@@ -190,7 +190,7 @@ int AirshipAttitudeControl::print_status()
perf_print_counter(_loop_perf);
print_message(ORB_ID(actuator_controls), _actuators);
print_message(ORB_ID(actuator_controls), _actuator_controls);
return 0;
}
@@ -227,7 +227,10 @@ To reduce control latency, the module directly polls on the gyro topic published
return 0;
}
int airship_att_control_main(int argc, char *argv[])
/**
* Airship attitude control app start / stop handling function
*/
extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[])
{
return AirshipAttitudeControl::main(argc, argv);
}