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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/modules/land_detector/MulticopterLandDetector.cpp
+5 -5
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@@ -86,10 +86,10 @@ MulticopterLandDetector::MulticopterLandDetector()
void MulticopterLandDetector::_update_topics()
{
actuator_controls_s actuator_controls;
vehicle_thrust_setpoint_s vehicle_thrust_setpoint;
if (_actuator_controls_sub.update(&actuator_controls)) {
_actuator_controls_throttle = actuator_controls.control[actuator_controls_s::INDEX_THROTTLE];
if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) {
_vehicle_thrust_setpoint_throttle = -vehicle_thrust_setpoint.xyz[2];
}
vehicle_control_mode_s vehicle_control_mode;
@@ -207,7 +207,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// low thrust: 30% of throttle range between min and hover, relaxed to 60% if hover thrust estimate available
const float thr_pct_hover = _hover_thrust_estimate_valid ? 0.6f : 0.3f;
const float sys_low_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * thr_pct_hover;
_has_low_throttle = (_actuator_controls_throttle <= sys_low_throttle);
_has_low_throttle = (_vehicle_thrust_setpoint_throttle <= sys_low_throttle);
bool ground_contact = _has_low_throttle;
// if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present,
@@ -256,7 +256,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
minimum_thrust_threshold = (_params.minManThrottle + 0.01f);
}
const bool minimum_thrust_now = _actuator_controls_throttle <= minimum_thrust_threshold;
const bool minimum_thrust_now = _vehicle_thrust_setpoint_throttle <= minimum_thrust_threshold;
_minimum_thrust_8s_hysteresis.set_state_and_update(minimum_thrust_now, now);
// Next look if vehicle is not rotating (do not consider yaw)
src/modules/land_detector/MulticopterLandDetector.h
+3 -3
View File
@@ -42,10 +42,10 @@
#pragma once
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/hover_thrust_estimate.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/takeoff_status.h>
#include "LandDetector.h"
@@ -105,7 +105,7 @@ private:
float crawlSpeed;
} _params{};
uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
@@ -118,7 +118,7 @@ private:
bool _flag_control_climb_rate_enabled{false};
bool _hover_thrust_initialized{false};
float _actuator_controls_throttle{0.f};
float _vehicle_thrust_setpoint_throttle{0.f};
uint8_t _takeoff_state{takeoff_status_s::TAKEOFF_STATE_DISARMED};