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sensors: create vehicle_acceleration module (#12597)

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This commit is contained in:
Daniel Agar
2019-08-07 05:05:48 -04:00
committed by GitHub
parent 50fbb56737
commit a917f22b65
25 changed files with 492 additions and 138 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -3901,8 +3901,8 @@ void Commander::airspeed_use_check()
_airspeed_sub.update();
const airspeed_s &airspeed = _airspeed_sub.get();
_sensor_bias_sub.update();
const sensor_bias_s &sensors = _sensor_bias_sub.get();
vehicle_acceleration_s accel{};
_vehicle_acceleration_sub.copy(&accel);
bool is_fixed_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
@@ -3988,7 +3988,7 @@ void Commander::airspeed_use_check()
float max_lift_ratio = fmaxf(airspeed.indicated_airspeed_m_s, 0.7f) / fmaxf(_airspeed_stall.get(), 1.0f);
max_lift_ratio *= max_lift_ratio;
_load_factor_ratio = 0.95f * _load_factor_ratio + 0.05f * (fabsf(sensors.accel_z) / CONSTANTS_ONE_G) / max_lift_ratio;
_load_factor_ratio = 0.95f * _load_factor_ratio + 0.05f * (fabsf(accel.xyz[2]) / CONSTANTS_ONE_G) / max_lift_ratio;
_load_factor_ratio = math::constrain(_load_factor_ratio, 0.25f, 2.0f);
load_factor_ratio_fail = (_load_factor_ratio > 1.1f);
status.load_factor_ratio = _load_factor_ratio;
src/modules/commander/Commander.hpp
+3 -2
View File
@@ -60,8 +60,8 @@
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
@@ -250,11 +250,12 @@ private:
bool _print_avoidance_msg_once{false};
// Subscriptions
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
uORB::SubscriptionData<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::SubscriptionData<sensor_bias_s> _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};