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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/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -7
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@@ -37,8 +37,6 @@ extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
FixedwingPositionControl::FixedwingPositionControl() :
ModuleParams(nullptr),
_sub_airspeed(ORB_ID(airspeed)),
_sub_sensors(ORB_ID(sensor_bias)),
_loop_perf(perf_alloc(PC_ELAPSED, "fw_l1_control")),
_launchDetector(this),
_runway_takeoff(this)
@@ -346,9 +344,9 @@ FixedwingPositionControl::airspeed_poll()
{
bool airspeed_valid = _airspeed_valid;
if (!_parameters.airspeed_disabled && _sub_airspeed.update()) {
if (!_parameters.airspeed_disabled && _airspeed_sub.update()) {
const airspeed_s &as = _sub_airspeed.get();
const airspeed_s &as = _airspeed_sub.get();
if (PX4_ISFINITE(as.indicated_airspeed_m_s)
&& PX4_ISFINITE(as.true_airspeed_m_s)
@@ -1292,7 +1290,7 @@ FixedwingPositionControl::control_takeoff(const Vector2f &curr_pos, const Vector
}
/* Detect launch using body X (forward) acceleration */
_launchDetector.update(_sub_sensors.get().accel_x);
_launchDetector.update(_vehicle_acceleration_sub.get().xyz[0]);
/* update our copy of the launch detection state */
_launch_detection_state = _launchDetector.getLaunchDetected();
@@ -1750,7 +1748,6 @@ FixedwingPositionControl::run()
_alt_reset_counter = _global_pos.alt_reset_counter;
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
_sub_sensors.update();
airspeed_poll();
_manual_control_sub.update(&_manual);
_pos_sp_triplet_sub.update(&_pos_sp_triplet);
@@ -1759,6 +1756,7 @@ FixedwingPositionControl::run()
vehicle_control_mode_poll();
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
vehicle_status_poll();
_vehicle_acceleration_sub.update();
_vehicle_rates_sub.update();
Vector2f curr_pos((float)_global_pos.lat, (float)_global_pos.lon);
@@ -1931,7 +1929,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
float pitch_for_tecs = _pitch - _parameters.pitchsp_offset_rad;
/* filter speed and altitude for controller */
Vector3f accel_body(_sub_sensors.get().accel_x, _sub_sensors.get().accel_y, _sub_sensors.get().accel_z);
Vector3f accel_body(_vehicle_acceleration_sub.get().xyz);
// tailsitters use the multicopter frame as reference, in fixed wing
// we need to use the fixed wing frame