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mc att ctl: fix subscription handlers, fix parameters

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This commit is contained in:
Thomas Gubler
2014-12-17 13:50:29 +01:00
parent 9bad23e418
commit bbfe78e4f6
4 changed files with 19 additions and 12 deletions
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src/modules/mc_att_control/mc_att_control.cpp
+12 -8
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@@ -104,13 +104,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/*
* do subscriptions
*/
PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0);
PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0);
PX4_SUBSCRIBE(_n, vehicle_control_mode, 0);
PX4_SUBSCRIBE(_n, parameter_update, 0);
PX4_SUBSCRIBE(_n, manual_control_setpoint, 0);
PX4_SUBSCRIBE(_n, actuator_armed, 0);
_v_att = PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
_v_att_sp = PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0);
_v_rates_sp = PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0);
_v_control_mode = PX4_SUBSCRIBE(_n, vehicle_control_mode, 0);
PX4_SUBSCRIBE(_n, parameter_update, MulticopterAttitudeControl::handle_parameter_update, this, 1000);
_manual_control_sp = PX4_SUBSCRIBE(_n, manual_control_setpoint, 0);
_armed = PX4_SUBSCRIBE(_n, actuator_armed, 0);
}
@@ -178,6 +178,11 @@ MulticopterAttitudeControl::parameters_update()
return OK;
}
void MulticopterAttitudeControl::handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg)
{
parameters_update();
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
perf_begin(_loop_perf);
@@ -250,7 +255,6 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
} else {
/* attitude controller disabled, poll rates setpoint topic */
//XXX vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp->get().roll;
_rates_sp(1) = _v_rates_sp->get().pitch;
_rates_sp(2) = _v_rates_sp->get().yaw;
src/modules/mc_att_control/mc_att_control.h
+3 -1
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@@ -79,7 +79,9 @@ public:
*/
~MulticopterAttitudeControl();
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
/* Callbacks for topics */
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
void handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg);
void spin() { _n.spin(); }
src/modules/mc_att_control/mc_att_control_base.h
+2 -2
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@@ -90,8 +90,8 @@ protected:
px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */
px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */
px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */
px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) * _v_att_sp; /**< vehicle attitude setpoint */
px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) * _v_rates_sp; /**< vehicle rates setpoint */
px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) *_v_att_sp; /**< vehicle attitude setpoint */
px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) *_v_rates_sp; /**< vehicle rates setpoint */
PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint
that gets published eventually */
src/modules/mc_att_control/mc_att_control_params.c
+2 -1
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@@ -40,7 +40,8 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mc_att_control_params.h""
#include <px4_defines.h>
#include "mc_att_control_params.h"
#include <systemlib/param/param.h>
/**