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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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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
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@@ -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());
}
}