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Mission topic: Use mission topic instead of global position for triplet

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This commit is contained in:
Julian Oes
2013-11-20 12:46:25 +01:00
parent a9e51105c8
commit a6c5a19206
9 changed files with 100 additions and 97 deletions
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src/modules/controllib/uorb/blocks.cpp
+9 -9
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@@ -54,26 +54,26 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd)
mission_item_s &missionCmd,
mission_item_s &lastMissionCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
missionCmd.lat,
missionCmd.lon);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)lastPosCmd.lat / (double)1e7d,
(double)lastPosCmd.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
lastMissionCmd.lat,
lastMissionCmd.lon,
missionCmd.lat,
missionCmd.lon);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
@@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
_missionCmd(&getSubscriptions(), ORB_ID(mission_item_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
src/modules/controllib/uorb/blocks.hpp
+5 -4
View File
@@ -43,7 +43,8 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_set_triplet.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
@@ -82,8 +83,8 @@ public:
virtual ~BlockWaypointGuidance();
void update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd);
mission_item_s &missionCmd,
mission_item_s &lastMissionCmd);
float getPsiCmd() { return _psiCmd; }
};
@@ -98,7 +99,7 @@ protected:
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
UOrbSubscription<mission_item_triplet_s> _missionCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;