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RoverPositionControl: make offboard attitude usable without GPS

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This commit is contained in:
Jannik Beyerstedt
2019-11-19 10:05:25 +01:00
committed by Julian Oes
parent a543169f1e
commit bbc028a9e9
1 changed files with 16 additions and 5 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+16 -5
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@@ -372,7 +372,7 @@ RoverPositionControl::run()
parameters_update(true); parameters_update(true);
/* wakeup source(s) */ /* wakeup source(s) */
px4_pollfd_struct_t fds[3]; px4_pollfd_struct_t fds[4];
/* Setup of loop */ /* Setup of loop */
fds[0].fd = _global_pos_sub; fds[0].fd = _global_pos_sub;
@@ -381,6 +381,8 @@ RoverPositionControl::run()
fds[1].events = POLLIN; fds[1].events = POLLIN;
fds[2].fd = _sensor_combined_sub; fds[2].fd = _sensor_combined_sub;
fds[2].events = POLLIN; fds[2].events = POLLIN;
fds[3].fd = _vehicle_attitude_sub;
fds[3].events = POLLIN;
while (!should_exit()) { while (!should_exit()) {
@@ -414,7 +416,6 @@ RoverPositionControl::run()
orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos); orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
position_setpoint_triplet_poll(); position_setpoint_triplet_poll();
vehicle_attitude_poll();
//Convert Local setpoints to global setpoints //Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) { if (_control_mode.flag_control_offboard_enabled) {
@@ -474,14 +475,24 @@ RoverPositionControl::run()
control_velocity(current_velocity, _pos_sp_triplet); control_velocity(current_velocity, _pos_sp_triplet);
} else if (!manual_mode && _control_mode.flag_control_attitude_enabled) { }
perf_end(_loop_perf);
}
if (fds[3].revents & POLLIN) {
vehicle_attitude_poll();
if (!manual_mode && _control_mode.flag_control_attitude_enabled
&& !_control_mode.flag_control_position_enabled
&& !_control_mode.flag_control_velocity_enabled) {
control_attitude(_vehicle_att, _att_sp); control_attitude(_vehicle_att, _att_sp);
} }
perf_end(_loop_perf);
} }
if (fds[1].revents & POLLIN) { if (fds[1].revents & POLLIN) {