fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-08 17:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

PositionControl: fix attitude setpoint timestamp

Browse Source 
The plot of the attitude setpoint in the log did not show any values
because the message timestamp that the position control module sets
was overwritten by the PositionControl attitude generation.
This commit is contained in:
Matthias Grob
2019-11-05 13:05:16 +01:00
parent c6cc9f0902
commit b6de83117e
4 changed files with 7 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
+3 -3
View File
@@ -46,7 +46,7 @@ TEST(ControlMathTest, ThrottleAttitudeMapping)
Vector3f thr{0.0f, 0.0f, -1.0f};
float yaw = 0.0f;
vehicle_attitude_setpoint_s att{};
att = thrustToAttitude(thr, yaw);
thrustToAttitude(thr, yaw, att);
EXPECT_EQ(att.roll_body, 0);
EXPECT_EQ(att.pitch_body, 0);
EXPECT_EQ(att.yaw_body, 0);
@@ -55,7 +55,7 @@ TEST(ControlMathTest, ThrottleAttitudeMapping)
/* expected: same as before but with 90 yaw
* reason: only yaw changed */
yaw = M_PI_2_F;
att = thrustToAttitude(thr, yaw);
thrustToAttitude(thr, yaw, att);
EXPECT_EQ(att.roll_body, 0);
EXPECT_EQ(att.pitch_body, 0);
EXPECT_EQ(att.yaw_body, M_PI_2_F);
@@ -65,7 +65,7 @@ TEST(ControlMathTest, ThrottleAttitudeMapping)
* reason: thrust points straight down and order Euler
* order is: 1. roll, 2. pitch, 3. yaw */
thr = Vector3f(0.0f, 0.0f, 1.0f);
att = thrustToAttitude(thr, yaw);
thrustToAttitude(thr, yaw, att);
EXPECT_NEAR(att.roll_body, -M_PI_F, 1e-4);
EXPECT_EQ(att.pitch_body, 0);
EXPECT_EQ(att.yaw_body, M_PI_2_F);