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Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint

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This commit is contained in:
Matthias Grob
2022-10-17 16:07:11 +02:00
committed by Daniel Agar
parent 7c237fca74
commit 75c63aee2a
13 changed files with 91 additions and 157 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+5 -3
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@@ -44,6 +44,8 @@
using namespace matrix;
const trajectory_setpoint_s PositionControl::empty_trajectory_setpoint = {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN};
void PositionControl::setVelocityGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
{
_gain_vel_p = P;
@@ -93,10 +95,10 @@ void PositionControl::setState(const PositionControlStates &states)
_vel_dot = states.acceleration;
}
void PositionControl::setInputSetpoint(const vehicle_local_position_setpoint_s &setpoint)
void PositionControl::setInputSetpoint(const trajectory_setpoint_s &setpoint)
{
_pos_sp = Vector3f(setpoint.x, setpoint.y, setpoint.z);
_vel_sp = Vector3f(setpoint.vx, setpoint.vy, setpoint.vz);
_pos_sp = Vector3f(setpoint.position);
_vel_sp = Vector3f(setpoint.velocity);
_acc_sp = Vector3f(setpoint.acceleration);
_yaw_sp = setpoint.yaw;
_yawspeed_sp = setpoint.yawspeed;