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Merge pull request #1752 from PX4/log_thrust_sp

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log velocity - and acceleration/thrust setpoint
This commit is contained in:
Lorenz Meier
2015-02-09 22:35:36 +01:00
parent 295ad3f28f da5d5a5712
commit 9e2e6ceac1
4 changed files with 42 additions and 18 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+22 -16
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@@ -1011,22 +1011,6 @@ MulticopterPositionControl::task_main()
control_auto(dt);
}
/* fill local position setpoint */
_local_pos_sp.timestamp = hrt_absolute_time();
_local_pos_sp.x = _pos_sp(0);
_local_pos_sp.y = _pos_sp(1);
_local_pos_sp.z = _pos_sp(2);
_local_pos_sp.yaw = _att_sp.yaw_body;
/* publish local position setpoint */
if (_local_pos_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
}
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
/* idle state, don't run controller and set zero thrust */
R.identity();
@@ -1327,6 +1311,11 @@ MulticopterPositionControl::task_main()
_att_sp.thrust = thrust_abs;
/* save thrust setpoint for logging */
_local_pos_sp.acc_x = thrust_sp(0);
_local_pos_sp.acc_x = thrust_sp(1);
_local_pos_sp.acc_x = thrust_sp(2);
_att_sp.timestamp = hrt_absolute_time();
@@ -1335,6 +1324,23 @@ MulticopterPositionControl::task_main()
}
}
/* fill local position, velocity and thrust setpoint */
_local_pos_sp.timestamp = hrt_absolute_time();
_local_pos_sp.x = _pos_sp(0);
_local_pos_sp.y = _pos_sp(1);
_local_pos_sp.z = _pos_sp(2);
_local_pos_sp.yaw = _att_sp.yaw_body;
_local_pos_sp.vx = _vel_sp(0);
_local_pos_sp.vy = _vel_sp(1);
_local_pos_sp.vz = _vel_sp(2);
/* publish local position setpoint */
if (_local_pos_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
}
} else {
/* position controller disabled, reset setpoints */
_reset_alt_sp = true;