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TECS: rename tecs_status.altitude_filtered to altitude_sp_ref

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-24 11:48:15 +01:00
parent 06f4195663
commit 88ec117e59
5 changed files with 12 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -484,7 +484,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
}
t.altitude_sp = alt_sp;
t.altitude_filtered = debug_output.altitude_sp;
t.altitude_sp_filtered = debug_output.altitude_sp_ref;
t.height_rate_setpoint = debug_output.control.altitude_rate_control;
t.height_rate = -_local_pos.vz;
t.equivalent_airspeed_sp = equivalent_airspeed_sp;
src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp
+7 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,6 +36,7 @@
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_global_position.h>
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
@@ -59,6 +60,7 @@ private:
uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
bool send() override
{
@@ -69,6 +71,9 @@ private:
tecs_status_s tecs_status{};
_tecs_status_sub.copy(&tecs_status);
vehicle_global_position_s vehicle_global_position{};
_vehicle_global_position_sub.copy(&vehicle_global_position);
mavlink_nav_controller_output_t msg{};
msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
@@ -77,7 +82,7 @@ private:
msg.target_bearing = roundf(math::degrees(pos_ctrl_status.target_bearing));
msg.wp_dist = math::constrain(roundf(pos_ctrl_status.wp_dist), 0.f, (float)UINT16_MAX);
msg.xtrack_error = pos_ctrl_status.xtrack_error;
msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
msg.alt_error = tecs_status.altitude_sp - vehicle_global_position.alt;
msg.aspd_error = tecs_status.true_airspeed_filtered - tecs_status.true_airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);