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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
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@@ -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);
}
}