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Remove attitude setpoint matrix from attitude setpoint topic

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Lorenz Meier
2016-10-19 10:17:41 +02:00
committed by Lorenz Meier
parent 5317d29ffd
commit a12780c88f
8 changed files with 47 additions and 58 deletions
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src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
+18 -11
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@@ -640,8 +640,10 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
&& _pos_sp_triplet->data().current.type == _pos_sp_triplet->data().current.SETPOINT_TYPE_IDLE) {
/* idle state, don't run controller and set zero thrust */
_R.identity();
memcpy(&_att_sp_msg.data().R_body[0], _R.data, sizeof(_att_sp_msg.data().R_body));
_att_sp_msg.data().R_valid = true;
math::Quaternion qd;
qd.from_dcm(_R);
memcpy(&_att_sp_msg.data().q_d[0], qd.data, sizeof(_att_sp_msg.data().q_d));
_att_sp_msg.data().q_d_valid = true;
_att_sp_msg.data().roll_body = 0.0f;
_att_sp_msg.data().pitch_body = 0.0f;
@@ -930,12 +932,14 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
_R(i, 2) = body_z(i);
}
/* copy rotation matrix to attitude setpoint topic */
memcpy(&_att_sp_msg.data().R_body[0], _R.data, sizeof(_att_sp_msg.data().R_body));
_att_sp_msg.data().R_valid = true;
/* calculate euler angles, for logging only, must not be used for control */
math::Vector<3> eul = _R.to_euler();
math::Quaternion q;
q.from_dcm(_R);
memcpy(_att_sp_msg.data().q_d, q.data, sizeof(_att_sp_msg.data().q_d));
_att_sp_msg.data().q_d_valid = true;
_att_sp_msg.data().roll_body = eul(0);
_att_sp_msg.data().pitch_body = eul(1);
/* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */
@@ -945,9 +949,10 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
* force level attitude, don't change yaw */
_R.from_euler(0.0f, 0.0f, _att_sp_msg.data().yaw_body);
/* copy rotation matrix to attitude setpoint topic */
memcpy(&_att_sp_msg.data().R_body[0], _R.data, sizeof(_att_sp_msg.data().R_body));
_att_sp_msg.data().R_valid = true;
math::Quaternion q;
q.from_dcm(_R);
memcpy(_att_sp_msg.data().q_d, q.data, sizeof(_att_sp_msg.data().q_d));
_att_sp_msg.data().q_d_valid = true;
_att_sp_msg.data().roll_body = 0.0f;
_att_sp_msg.data().pitch_body = 0.0f;
@@ -1042,8 +1047,10 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
/* Construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
R_sp.from_euler(_att_sp_msg.data().roll_body, _att_sp_msg.data().pitch_body, _att_sp_msg.data().yaw_body);
_att_sp_msg.data().R_valid = true;
memcpy(&_att_sp_msg.data().R_body[0], R_sp.data, sizeof(_att_sp_msg.data().R_body));
math::Quaternion q;
q.from_dcm(R_sp);
memcpy(_att_sp_msg.data().q_d, q.data, sizeof(_att_sp_msg.data().q_d));
_att_sp_msg.data().q_d_valid = true;
_att_sp_msg.data().timestamp = get_time_micros();
} else {