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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

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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/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+5 -3
View File
@@ -364,11 +364,13 @@ void VehicleMagnetometer::UpdatePowerCompensation()
if (_mag_comp_type != MagCompensationType::Disabled) {
// update power signal for mag compensation
if (_armed && (_mag_comp_type == MagCompensationType::Throttle)) {
actuator_controls_s controls;
vehicle_thrust_setpoint_s vehicle_thrust_setpoint;
if (_vehicle_thrust_setpoint_0_sub.update(&vehicle_thrust_setpoint)) {
const matrix::Vector3f thrust_setpoint = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
if (_actuator_controls_0_sub.update(&controls)) {
for (auto &cal : _calibration) {
cal.UpdatePower(controls.control[actuator_controls_s::INDEX_THROTTLE]);
cal.UpdatePower(thrust_setpoint.length());
}
}
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
+2 -2
View File
@@ -50,7 +50,6 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/magnetometer_bias_estimate.h>
@@ -60,6 +59,7 @@
#include <uORB/topics/sensors_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
using namespace time_literals;
@@ -110,7 +110,7 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status), 0};
uORB::Subscription _magnetometer_bias_estimate_sub{ORB_ID(magnetometer_bias_estimate)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};