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PositionControl: remove complicated internal control flags

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This commit is contained in:
Matthias Grob
2019-12-08 00:12:37 +01:00
parent 83e51ad192
commit 8441bdb9b5
4 changed files with 44 additions and 47 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
-13
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@@ -71,18 +71,8 @@ void PositionControl::setState(const PositionControlStates &states)
_vel_dot = states.acceleration;
}
void PositionControl::_setCtrlFlag(bool value)
{
for (int i = 0; i <= 2; i++) {
_ctrl_pos[i] = _ctrl_vel[i] = value;
}
}
bool PositionControl::setInputSetpoint(const vehicle_local_position_setpoint_s &setpoint)
{
// by default we use the entire position-velocity control-loop pipeline (flag only for logging purpose)
_setCtrlFlag(true);
_pos_sp = Vector3f(setpoint.x, setpoint.y, setpoint.z);
_vel_sp = Vector3f(setpoint.vx, setpoint.vy, setpoint.vz);
_acc_sp = Vector3f(setpoint.acceleration);
@@ -180,7 +170,6 @@ bool PositionControl::_interfaceMapping()
// Velocity controller is active without position control.
// Set integral states and setpoints to 0
_pos_sp(i) = _pos(i) = 0.0f;
_ctrl_pos[i] = false; // position control-loop is not used
// thrust setpoint is not supported in velocity control
_thr_sp(i) = NAN;
@@ -196,7 +185,6 @@ bool PositionControl::_interfaceMapping()
// Set all integral states and setpoints to 0
_pos_sp(i) = _pos(i) = 0.0f;
_vel_sp(i) = _vel(i) = 0.0f;
_ctrl_pos[i] = _ctrl_vel[i] = false; // position/velocity control loop is not used
// Reset the Integral term.
_vel_int(i) = 0.0f;
@@ -243,7 +231,6 @@ bool PositionControl::_interfaceMapping()
// 70% of throttle range between min and hover
_thr_sp(2) = -(_lim_thr_min + (_hover_thrust - _lim_thr_min) * 0.7f);
// position and velocity control-loop is currently unused (flag only for logging purpose)
_setCtrlFlag(false);
}
return !(failsafe);