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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/rover_pos_control/RoverPositionControl.cpp
+2 -4
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@@ -61,10 +61,8 @@ extern "C" __EXPORT int rover_pos_control_main(int argc, char *argv[]);
RoverPositionControl::RoverPositionControl() :
ModuleParams(nullptr),
/* performance counters */
_sub_sensors(ORB_ID(sensor_bias)),
_loop_perf(perf_alloc(PC_ELAPSED, "rover position control")) // TODO : do we even need these perf counters
{
}
RoverPositionControl::~RoverPositionControl()
@@ -197,7 +195,7 @@ RoverPositionControl::control_position(const matrix::Vector2f &current_position,
const Vector3f vel = R_to_body * Vector3f(ground_speed(0), ground_speed(1), ground_speed(2));
const float x_vel = vel(0);
const float x_acc = _sub_sensors.get().accel_x;
const float x_acc = _vehicle_acceleration_sub.get().xyz[0];
// Compute airspeed control out and just scale it as a constant
mission_throttle = _param_throttle_speed_scaler.get()
@@ -314,7 +312,7 @@ RoverPositionControl::run()
vehicle_control_mode_poll();
//manual_control_setpoint_poll();
_sub_sensors.update();
_vehicle_acceleration_sub.update();
/* update parameters from storage */
parameters_update(_params_sub);
src/modules/rover_pos_control/RoverPositionControl.hpp
+2 -2
View File
@@ -58,8 +58,8 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -116,7 +116,7 @@ private:
vehicle_attitude_s _vehicle_att{};
sensor_combined_s _sensor_combined{};
SubscriptionData<sensor_bias_s> _sub_sensors;
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
perf_counter_t _loop_perf; /**< loop performance counter */