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vehicle local position setpoint: use array for thrust setpoint

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent a74c1116ee
commit 85a263c7bd
3 changed files with 4 additions and 6 deletions
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msg/vehicle_local_position_setpoint.msg
+1 -3
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@@ -12,6 +12,4 @@ float32 vz # in meters/sec
float32 acc_x # in meters/(sec*sec) float32 acc_x # in meters/(sec*sec)
float32 acc_y # in meters/(sec*sec) float32 acc_y # in meters/(sec*sec)
float32 acc_z # in meters/(sec*sec) float32 acc_z # in meters/(sec*sec)
float32 thr_x # normalized float32[3] thr # normalized thrust vector in NED
float32 thr_y # normalized
float32 thr_z # normalized
src/lib/FlightTasks/tasks/FlightTask.hpp
+1 -1
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@@ -131,7 +131,7 @@ protected:
void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; } void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
/* Put the thrust setpoint produced by the task into the setpoint message */ /* Put the thrust setpoint produced by the task into the setpoint message */
void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyToRaw(&_vehicle_local_position_setpoint.thr_x);} void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyTo(_vehicle_local_position_setpoint.thr);}
private: private:
uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr}; uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
src/modules/mc_pos_control/PositionControl.cpp
+2 -2
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@@ -90,7 +90,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
_pos_sp = Data(&setpoint.x); _pos_sp = Data(&setpoint.x);
_vel_sp = Data(&setpoint.vx); _vel_sp = Data(&setpoint.vx);
_acc_sp = Data(&setpoint.acc_x); _acc_sp = Data(&setpoint.acc_x);
_thr_sp = Data(&setpoint.thr_x); _thr_sp = Data(setpoint.thr);
_yaw_sp = setpoint.yaw; //integrate _yaw_sp = setpoint.yaw; //integrate
_yawspeed_sp = setpoint.yawspeed; _yawspeed_sp = setpoint.yawspeed;
_interfaceMapping(); _interfaceMapping();
@@ -100,7 +100,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
*/ */
_skipController = false; _skipController = false;
if (PX4_ISFINITE(setpoint.thr_x) && PX4_ISFINITE(setpoint.thr_y) && PX4_ISFINITE(setpoint.thr_z)) { if (PX4_ISFINITE(setpoint.thr[0]) && PX4_ISFINITE(setpoint.thr[1]) && PX4_ISFINITE(setpoint.thr[2])) {
_skipController = true; _skipController = true;
} }
} }