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merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531)

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- 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
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -5
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@@ -122,18 +122,14 @@ MulticopterRateControl::Run()
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
// grab corresponding vehicle_angular_acceleration immediately after vehicle_angular_velocity copy
vehicle_angular_acceleration_s v_angular_acceleration{};
_vehicle_angular_acceleration_sub.copy(&v_angular_acceleration);
const hrt_abstime now = angular_velocity.timestamp_sample;
// Guard against too small (< 0.125ms) and too large (> 20ms) dt's.
const float dt = math::constrain(((now - _last_run) * 1e-6f), 0.000125f, 0.02f);
_last_run = now;
const Vector3f angular_accel{v_angular_acceleration.xyz};
const Vector3f rates{angular_velocity.xyz};
const Vector3f angular_accel{angular_velocity.xyz_derivative};
/* check for updates in other topics */
_vehicle_control_mode_sub.update(&_vehicle_control_mode);
src/modules/mc_rate_control/MulticopterRateControl.hpp
-2
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@@ -54,7 +54,6 @@
#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_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
@@ -101,7 +100,6 @@ private:
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)};