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vtol: added timestamps for actuator controls message

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Roman
2015-12-24 10:18:24 +01:00
committed by Lorenz Meier
parent 7c3a67e374
commit 9d130653e1
3 changed files with 10 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+2
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@@ -282,6 +282,7 @@ void Standard::update_external_state()
void Standard::fill_actuator_outputs() void Standard::fill_actuator_outputs()
{ {
/* multirotor controls */ /* multirotor controls */
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; // roll * _mc_roll_weight; // roll
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -292,6 +293,7 @@ void Standard::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight; // throttle _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight; // throttle
/* fixed wing controls */ /* fixed wing controls */
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_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_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight); //roll * (1 - _mc_roll_weight); //roll
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
src/modules/vtol_att_control/tailsitter.cpp
+6
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@@ -446,6 +446,7 @@ void Tailsitter::fill_actuator_outputs()
{ {
switch (_vtol_mode) { switch (_vtol_mode) {
case ROTARY_WING: case ROTARY_WING:
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]; _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
@@ -453,6 +454,8 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE]; _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
if (_params->elevons_mc_lock == 1) { if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0; _actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0; _actuators_out_1->control[1] = 0;
@@ -469,6 +472,7 @@ void Tailsitter::fill_actuator_outputs()
case FIXED_WING: case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated // in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->timestamp = _actuators_fw_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0; _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0; _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0; _actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
@@ -487,6 +491,8 @@ void Tailsitter::fill_actuator_outputs()
case TRANSITION: case TRANSITION:
// in transition engines are mixed by weight (BACK TRANSITION ONLY) // in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
src/modules/vtol_att_control/tiltrotor.cpp
+2
View File
@@ -384,6 +384,7 @@ void Tiltrotor::update_external_state()
*/ */
void Tiltrotor::fill_actuator_outputs() void Tiltrotor::fill_actuator_outputs()
{ {
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -400,6 +401,7 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];; _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;
} }
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_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_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight); * (1 - _mc_roll_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =