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VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics

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MC/FW rate controller and auto tuner: remove actuator_controls

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battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent bcd6e7adee
commit b16f16598b
47 changed files with 332 additions and 549 deletions
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msg/ActuatorControls.msg
-19
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@@ -1,19 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_ACTUATOR_CONTROLS = 9
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint8 INDEX_ROLL = 0
uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
uint8 INDEX_THROTTLE = 3
uint8 INDEX_GIMBAL_SHUTTER = 3
uint8 INDEX_CAMERA_ZOOM = 4
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint8 GROUP_INDEX_GIMBAL = 2
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[9] control
# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
msg/ActuatorControlsStatus.msg
+1 -6
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@@ -1,10 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint8 INDEX_ROLL = 0
uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
uint8 INDEX_THROTTLE = 3
float32[4] control_power
float32[3] control_power
# TOPICS actuator_controls_status_0 actuator_controls_status_1
msg/CMakeLists.txt
-1
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@@ -39,7 +39,6 @@ include(px4_list_make_absolute)
set(msg_files
ActionRequest.msg
ActuatorArmed.msg
ActuatorControls.msg
ActuatorControlsStatus.msg
ActuatorMotors.msg
ActuatorOutputs.msg
msg/VehicleThrustSetpoint.msg
+3
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@@ -3,3 +3,6 @@ uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1]
# TOPICS vehicle_thrust_setpoint
# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc
msg/VehicleTorqueSetpoint.msg
+3
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@@ -3,3 +3,6 @@ uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
float32[3] xyz # torque setpoint about X, Y, Z body axis (normalized)
# TOPICS vehicle_torque_setpoint
# TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc