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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/rover_pos_control/RoverPositionControl.hpp
+2 -3
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@@ -72,7 +72,6 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
@@ -108,7 +107,6 @@ private:
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; /**< navigation capabilities publication */
uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)}; /**< actuator controls publication */
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< control mode subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
@@ -125,7 +123,6 @@ private:
vehicle_control_mode_s _control_mode{}; /**< control mode */
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
trajectory_setpoint_s _trajectory_setpoint{};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
@@ -170,6 +167,8 @@ private:
float _manual_yaw_sp{0.0};
bool _reset_yaw_sp{true};
float _throttle_control{0.f};
float _yaw_control{0.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,