fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 09:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_att: inject identification signal in att control output

Browse Source
This commit is contained in:
bresch
2021-10-02 18:12:05 -04:00
committed by Daniel Agar
parent 0498ee92d0
commit 9681f819a8
2 changed files with 16 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+14 -1
View File
@@ -316,13 +316,26 @@ MulticopterAttitudeControl::Run()
Vector3f rates_sp = _attitude_control.update(q);
const hrt_abstime now = hrt_absolute_time();
autotune_attitude_control_status_s pid_autotune;
if (_autotune_attitude_control_status_sub.copy(&pid_autotune)) {
if ((pid_autotune.state == autotune_attitude_control_status_s::STATE_ROLL
|| pid_autotune.state == autotune_attitude_control_status_s::STATE_PITCH
|| pid_autotune.state == autotune_attitude_control_status_s::STATE_YAW
|| pid_autotune.state == autotune_attitude_control_status_s::STATE_TEST)
&& ((now - pid_autotune.timestamp) < 1_s)) {
rates_sp += Vector3f(pid_autotune.rate_sp);
}
}
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};
v_rates_sp.roll = rates_sp(0);
v_rates_sp.pitch = rates_sp(1);
v_rates_sp.yaw = rates_sp(2);
_thrust_setpoint_body.copyTo(v_rates_sp.thrust_body);
v_rates_sp.timestamp = hrt_absolute_time();
v_rates_sp.timestamp = now;
_v_rates_sp_pub.publish(v_rates_sp);
}