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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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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/logger/logged_topics.cpp
+5 -8
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@@ -47,9 +47,6 @@ void LoggedTopics::add_default_topics()
{
add_topic("action_request");
add_topic("actuator_armed");
add_topic("actuator_controls_0", 50);
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_optional_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_optional_topic("airspeed_validated", 200);
@@ -226,7 +223,7 @@ void LoggedTopics::add_default_topics()
// additional control allocation logging
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic_multi("vehicle_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_thrust_setpoint", 20, 2);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
// SYS_HITL: default ground truth logging for simulation
@@ -241,10 +238,12 @@ void LoggedTopics::add_default_topics()
}
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw");
add_topic("actuator_controls_virtual_mc");
add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint");
add_optional_topic("vehicle_torque_setpoint_virtual_mc");
add_optional_topic("vehicle_torque_setpoint_virtual_fw");
add_optional_topic("vehicle_thrust_setpoint_virtual_mc");
add_optional_topic("vehicle_thrust_setpoint_virtual_fw");
add_topic("time_offset");
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_angular_velocity_groundtruth", 10);
@@ -380,8 +379,6 @@ void LoggedTopics::add_raw_imu_accel_fifo()
void LoggedTopics::add_system_identification_topics()
{
// for system id need to log imu and controls at full rate
add_topic("actuator_controls_0");
add_topic("actuator_controls_1");
add_topic("sensor_combined");
add_topic("vehicle_angular_velocity");
add_topic("vehicle_torque_setpoint");