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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

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

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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src/lib/battery/battery.cpp
+5 -3
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@@ -213,9 +213,11 @@ float Battery::calculateStateOfChargeVoltageBased(const float voltage_v, const f
cell_voltage += _params.r_internal * current_a;
} else {
actuator_controls_s actuator_controls{};
_actuator_controls_0_sub.copy(&actuator_controls);
const float throttle = actuator_controls.control[actuator_controls_s::INDEX_THROTTLE];
vehicle_thrust_setpoint_s vehicle_thrust_setpoint{};
_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint);
const matrix::Vector3f thrust_setpoint = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
const float throttle = thrust_setpoint.length();
_throttle_filter.update(throttle);
if (!_battery_initialized) {
src/lib/battery/battery.h
+2 -2
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@@ -55,9 +55,9 @@
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
/**
* BatteryBase is a base class for any type of battery.
@@ -153,7 +153,7 @@ private:
void computeScale();
float computeRemainingTime(float current_a);
uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
src/lib/sensor_calibration/Magnetometer.hpp
-1
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@@ -38,7 +38,6 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
namespace calibration
src/lib/system_identification/test_data.h
+2 -2
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@@ -40,9 +40,9 @@
*
* Sampling frequency: ~285Hz, y_data is aligned with the closest next u_data
*
* u_data: actuator_controls_0.control[0] (roll control signal, used as the input)
* u_data: vehicle_torque_setpoint[0] (roll control signal, used as the input)
* y_data: vehicle_angular_velocity.xyz[0] (filtered roll angular rate, used as the output)
* t_data: actuator_controls_0.timestamp
* t_data: vehicle_torque_setpoint.timestamp
*/
#pragma once