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vtol_att_control: improve readability of fill_actuator_outputs()

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- vtol standard pass through landing gear for MC and flaps for FW
This commit is contained in:
Daniel Agar
2020-12-24 09:29:17 -05:00
committed by GitHub
parent 9849ff4a9c
commit 92afe45f7f
3 changed files with 110 additions and 120 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+18 -20
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@@ -280,36 +280,34 @@ void Tailsitter::update_fw_state()
*/
void Tailsitter::fill_actuator_outputs()
{
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
auto &mc_in = _actuators_mc_in->control;
auto &fw_in = _actuators_fw_in->control;
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
auto &mc_out = _actuators_out_0->control;
auto &fw_out = _actuators_out_1->control;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight;
mc_out[actuator_controls_s::INDEX_ROLL] = mc_in[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
} else {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
}
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0;
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
} else {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
}
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_actuators_out_0->timestamp = _actuators_out_1->timestamp = hrt_absolute_time();
}