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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/mc_att_control/mc_att_control_main.cpp
+18 -14
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@@ -277,7 +277,7 @@ MulticopterAttitudeControl::Run()
/* check for updates in other topics */
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_v_control_mode_sub.update(&_v_control_mode);
_vehicle_control_mode_sub.update(&_vehicle_control_mode);
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected;
@@ -306,15 +306,15 @@ MulticopterAttitudeControl::Run()
// vehicle is a tailsitter in transition mode
const bool is_tailsitter_transition = (_vtol_tailsitter && _vtol_in_transition_mode);
bool run_att_ctrl = _v_control_mode.flag_control_attitude_enabled && (is_hovering || is_tailsitter_transition);
bool run_att_ctrl = _vehicle_control_mode.flag_control_attitude_enabled && (is_hovering || is_tailsitter_transition);
if (run_att_ctrl) {
// Generate the attitude setpoint from stick inputs if we are in Manual/Stabilized mode
if (_v_control_mode.flag_control_manual_enabled &&
!_v_control_mode.flag_control_altitude_enabled &&
!_v_control_mode.flag_control_velocity_enabled &&
!_v_control_mode.flag_control_position_enabled) {
if (_vehicle_control_mode.flag_control_manual_enabled &&
!_vehicle_control_mode.flag_control_altitude_enabled &&
!_vehicle_control_mode.flag_control_velocity_enabled &&
!_vehicle_control_mode.flag_control_position_enabled) {
generate_attitude_setpoint(q, dt, _reset_yaw_sp);
attitude_setpoint_generated = true;
@@ -340,14 +340,14 @@ MulticopterAttitudeControl::Run()
}
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};
v_rates_sp.roll = rates_sp(0);
v_rates_sp.pitch = rates_sp(1);
v_rates_sp.yaw = rates_sp(2);
_thrust_setpoint_body.copyTo(v_rates_sp.thrust_body);
v_rates_sp.timestamp = hrt_absolute_time();
vehicle_rates_setpoint_s rates_setpoint{};
rates_setpoint.roll = rates_sp(0);
rates_setpoint.pitch = rates_sp(1);
rates_setpoint.yaw = rates_sp(2);
_thrust_setpoint_body.copyTo(rates_setpoint.thrust_body);
rates_setpoint.timestamp = hrt_absolute_time();
_v_rates_sp_pub.publish(v_rates_sp);
_vehicle_rates_setpoint_pub.publish(rates_setpoint);
}
// reset yaw setpoint during transitions, tailsitter.cpp generates
@@ -425,7 +425,11 @@ https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth
return 0;
}
int mc_att_control_main(int argc, char *argv[])
/**
* Multicopter attitude control app start / stop handling function
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
{
return MulticopterAttitudeControl::main(argc, argv);
}