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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/mavlink/streams/HIGH_LATENCY2.hpp
+8 -8
View File
@@ -39,7 +39,6 @@
#include <lib/matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/estimator_selector_status.h>
@@ -51,6 +50,7 @@
#include <uORB/topics/wind.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
@@ -561,16 +561,16 @@ private:
if (_status_sub.update(&status)) {
if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
actuator_controls_s actuator{};
vehicle_thrust_setpoint_s vehicle_thrust_setpoint{};
if (status.is_vtol && status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
if (_actuator_1_sub.copy(&actuator)) {
_throttle.add_value(actuator.control[actuator_controls_s::INDEX_THROTTLE], _update_rate_filtered);
if (_vehicle_thrust_setpoint_1_sub.copy(&vehicle_thrust_setpoint)) {
_throttle.add_value(vehicle_thrust_setpoint.xyz[0], _update_rate_filtered);
}
} else {
if (_actuator_0_sub.copy(&actuator)) {
_throttle.add_value(actuator.control[actuator_controls_s::INDEX_THROTTLE], _update_rate_filtered);
if (_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint)) {
_throttle.add_value(-vehicle_thrust_setpoint.xyz[2], _update_rate_filtered);
}
}
@@ -621,8 +621,8 @@ private:
msg.wp_num = UINT16_MAX;
}
uORB::Subscription _actuator_0_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _actuator_1_sub{ORB_ID(actuator_controls_1)};
uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0};
uORB::Subscription _vehicle_thrust_setpoint_1_sub{ORB_ID(vehicle_thrust_setpoint), 1};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _attitude_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
src/modules/mavlink/streams/VFR_HUD.hpp
+10 -10
View File
@@ -35,10 +35,10 @@
#define VFR_HUD_HPP
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
class MavlinkStreamVFRHUD : public MavlinkStream
{
@@ -65,8 +65,8 @@ private:
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)};
uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0};
uORB::Subscription _vehicle_thrust_setpoint_1_sub{ORB_ID(vehicle_thrust_setpoint), 1};
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
@@ -89,19 +89,19 @@ private:
msg.heading = math::degrees(matrix::wrap_2pi(lpos.heading));
if (armed.armed) {
actuator_controls_s act0{};
actuator_controls_s act1{};
_act0_sub.copy(&act0);
_act1_sub.copy(&act1);
vehicle_thrust_setpoint_s vehicle_thrust_setpoint_0{};
vehicle_thrust_setpoint_s vehicle_thrust_setpoint_1{};
_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0);
_vehicle_thrust_setpoint_1_sub.copy(&vehicle_thrust_setpoint_1);
// VFR_HUD throttle should only be used for operator feedback.
// VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a
// VTOLs switch between vehicle_thrust_setpoint_0 and vehicle_thrust_setpoint_1. During transition there isn't a
// a single throttle value, but this should still be a useful heuristic for operator awareness.
//
// Use ACTUATOR_CONTROL_TARGET if accurate states are needed.
msg.throttle = 100 * math::max(
act0.control[actuator_controls_s::INDEX_THROTTLE],
act1.control[actuator_controls_s::INDEX_THROTTLE]);
-vehicle_thrust_setpoint_0.xyz[2],
vehicle_thrust_setpoint_1.xyz[0]);
} else {
msg.throttle = 0.0f;