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FlightTasks: adapt to acceleration based control

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This commit is contained in:
Matthias Grob
2020-03-30 09:58:39 +02:00
parent b3d7445059
commit b79b095ce7
10 changed files with 38 additions and 37 deletions
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src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
+3 -2
View File
@@ -96,10 +96,12 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
_acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration);
_jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk);
_thrust_setpoint.copyTo(vehicle_local_position_setpoint.thrust);
vehicle_local_position_setpoint.yaw = _yaw_setpoint;
vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;
// deprecated, only kept for output logging
matrix::Vector3f(NAN, NAN, NAN).copyTo(vehicle_local_position_setpoint.thrust);
return vehicle_local_position_setpoint;
}
@@ -109,7 +111,6 @@ void FlightTask::_resetSetpoints()
_velocity_setpoint.setNaN();
_acceleration_setpoint.setNaN();
_jerk_setpoint.setNaN();
_thrust_setpoint.setNaN();
_yaw_setpoint = _yawspeed_setpoint = NAN;
}
src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
+6 -4
View File
@@ -165,7 +165,11 @@ public:
virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
const matrix::Vector3f &acc_sp)
{
_velocity_setpoint_feedback = vel_sp;
_acceleration_setpoint_feedback = acc_sp;
}
protected:
uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
@@ -225,12 +229,10 @@ protected:
matrix::Vector3f _velocity_setpoint;
matrix::Vector3f _acceleration_setpoint;
matrix::Vector3f _jerk_setpoint;
matrix::Vector3f _thrust_setpoint;
float _yaw_setpoint{};
float _yawspeed_setpoint{};
matrix::Vector3f _velocity_setpoint_feedback;
matrix::Vector3f _thrust_setpoint_feedback;
matrix::Vector3f _acceleration_setpoint_feedback;
/* Counters for estimator local position resets */
struct {