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VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics

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UUVAttitudeController: remove actuator_controls

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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/uuv_att_control/uuv_att_control.cpp
+17 -41
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@@ -95,34 +95,34 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
{
if (PX4_ISFINITE(roll_u)) {
roll_u = math::constrain(roll_u, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_ROLL] = roll_u;
_vehicle_torque_setpoint.xyz[0] = roll_u;
} else {
_actuators.control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_vehicle_torque_setpoint.xyz[0] = 0.0f;
}
if (PX4_ISFINITE(pitch_u)) {
pitch_u = math::constrain(pitch_u, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_PITCH] = pitch_u;
_vehicle_torque_setpoint.xyz[1] = pitch_u;
} else {
_actuators.control[actuator_controls_s::INDEX_PITCH] = 0.0f;
_vehicle_torque_setpoint.xyz[1] = 0.0f;
}
if (PX4_ISFINITE(yaw_u)) {
yaw_u = math::constrain(yaw_u, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_YAW] = yaw_u;
_vehicle_torque_setpoint.xyz[2] = yaw_u;
} else {
_actuators.control[actuator_controls_s::INDEX_YAW] = 0.0f;
_vehicle_torque_setpoint.xyz[2] = 0.0f;
}
if (PX4_ISFINITE(thrust_x)) {
thrust_x = math::constrain(thrust_x, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = thrust_x;
_vehicle_thrust_setpoint.xyz[0] = thrust_x;
} else {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
_vehicle_thrust_setpoint.xyz[0] = 0.0f;
}
}
@@ -265,48 +265,24 @@ void UUVAttitudeControl::Run()
_manual_control_setpoint.yaw,
_manual_control_setpoint.throttle, 0.f, 0.f);
}
}
_actuators.timestamp = hrt_absolute_time();
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_manual_enabled ||
_vcontrol_mode.flag_control_attitude_enabled) {
/* publish the actuator controls */
_actuator_controls_pub.publish(_actuators);
publishTorqueSetpoint(0);
publishThrustSetpoint(0);
_vehicle_thrust_setpoint.timestamp = hrt_absolute_time();
_vehicle_thrust_setpoint.timestamp_sample = 0.f;
_vehicle_thrust_setpoint_pub.publish(_vehicle_thrust_setpoint);
_vehicle_torque_setpoint.timestamp = hrt_absolute_time();
_vehicle_torque_setpoint.timestamp_sample = 0.f;
_vehicle_torque_setpoint_pub.publish(_vehicle_torque_setpoint);
}
perf_end(_loop_perf);
}
void UUVAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
{
vehicle_torque_setpoint_s v_torque_sp = {};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.timestamp_sample = timestamp_sample;
v_torque_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_ROLL];
v_torque_sp.xyz[1] = _actuators.control[actuator_controls_s::INDEX_PITCH];
v_torque_sp.xyz[2] = _actuators.control[actuator_controls_s::INDEX_YAW];
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
void UUVAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_sample)
{
vehicle_thrust_setpoint_s v_thrust_sp = {};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.timestamp_sample = timestamp_sample;
v_thrust_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_THROTTLE];
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
}
int UUVAttitudeControl::task_spawn(int argc, char *argv[])
{
UUVAttitudeControl *instance = new UUVAttitudeControl();
@@ -347,7 +323,7 @@ int UUVAttitudeControl::print_usage(const char *reason)
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `actuator_controls_0` messages at a constant 250Hz.
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
### Implementation
Currently, this implementation supports only a few modes: