fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 14:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531)

Browse Source 
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
This commit is contained in:
Daniel Agar
2022-11-14 11:03:59 -05:00
committed by GitHub
parent 7d1f1d0f84
commit 9e7db0ed54
13 changed files with 13 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -4
View File
@@ -305,10 +305,7 @@ void FixedwingAttitudeControl::Run()
float pitchspeed = angular_velocity.xyz[1];
float yawspeed = angular_velocity.xyz[2];
const Vector3f rates(rollspeed, pitchspeed, yawspeed);
vehicle_angular_acceleration_s angular_acceleration{};
_vehicle_angular_acceleration_sub.copy(&angular_acceleration);
const Vector3f angular_accel{angular_acceleration.xyz};
const Vector3f angular_accel{angular_velocity.xyz_derivative};
if (_vehicle_status.is_vtol_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
-2
View File
@@ -67,7 +67,6 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -127,7 +126,6 @@ private:
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::SubscriptionMultiArray<control_allocator_status_s, 2> _control_allocator_status_subs{ORB_ID::control_allocator_status};