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Separate message for trajectory setpoint

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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
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src/modules/uuv_pos_control/uuv_pos_control.cpp
+4 -6
View File
@@ -185,17 +185,15 @@ void UUVPOSControl::Run()
float pitch_des = 0;
float yaw_des = _trajectory_setpoint.yaw;
float x_pos_des = _trajectory_setpoint.x;
float y_pos_des = _trajectory_setpoint.y;
float z_pos_des = _trajectory_setpoint.z;
//stabilization controller(keep pos and hold depth + angle) vs position controller(global + yaw)
if (_param_stabilization.get() == 0) {
pose_controller_6dof(x_pos_des, y_pos_des, z_pos_des,
pose_controller_6dof(_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_trajectory_setpoint.position[2],
roll_des, pitch_des, yaw_des, _vehicle_attitude, vlocal_pos);
} else {
stabilization_controller_6dof(x_pos_des, y_pos_des, z_pos_des,
stabilization_controller_6dof(_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_trajectory_setpoint.position[2],
roll_des, pitch_des, yaw_des, _vehicle_attitude, vlocal_pos);
}
}
src/modules/uuv_pos_control/uuv_pos_control.hpp
+2 -2
View File
@@ -62,9 +62,9 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
@@ -113,7 +113,7 @@ private:
//actuator_controls_s _actuators {}; /**< actuator control inputs */
manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */
vehicle_local_position_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */
trajectory_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */
vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
perf_counter_t _loop_perf; /**< loop performance counter */