fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 05:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Separate message for trajectory setpoint

Browse Source
This commit is contained in:
Matthias Grob
2022-05-12 17:19:48 +02:00
parent 9166b6953d
commit 8ca28f3796
41 changed files with 126 additions and 137 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rover_pos_control/RoverPositionControl.cpp
+3 -3
View File
@@ -333,7 +333,7 @@ RoverPositionControl::control_position(const matrix::Vector2d &current_position,
void
RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
{
const Vector3f desired_velocity{_trajectory_setpoint.vx, _trajectory_setpoint.vy, _trajectory_setpoint.vz};
const Vector3f desired_velocity{_trajectory_setpoint.velocity};
float dt = 0.01; // Using non zero value to a avoid division by zero
const float mission_throttle = _param_throttle_cruise.get();
@@ -436,10 +436,10 @@ RoverPositionControl::Run()
// local -> global
_global_local_proj_ref.reproject(
_trajectory_setpoint.x, _trajectory_setpoint.y,
_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
_pos_sp_triplet.current.alt = _global_local_alt0 - _trajectory_setpoint.z;
_pos_sp_triplet.current.alt = _global_local_alt0 - _trajectory_setpoint.position[2];
_pos_sp_triplet.current.valid = true;
}