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uORB combine VTOL FW and MC virtual topics (#7008)

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This commit is contained in:
Daniel Agar
2017-04-09 13:17:20 -04:00
committed by GitHub
parent 19f0b0be3a
commit c5e0bf1c2f
17 changed files with 74 additions and 263 deletions
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src/modules/vtol_att_control/vtol_att_control_main.h
+8 -21
View File
@@ -54,15 +54,6 @@
#include <px4_tasks.h>
#include <px4_posix.h>
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
@@ -77,11 +68,7 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mc_virtual_attitude_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -115,11 +102,11 @@ public:
struct vehicle_attitude_s *get_att() {return &_v_att;}
struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
struct fw_virtual_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
struct vehicle_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
struct vehicle_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;}
struct mc_virtual_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct fw_virtual_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;}
struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
@@ -174,11 +161,11 @@ private:
//*******************data containers***********************************************************
struct vehicle_attitude_s _v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint
struct mc_virtual_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint
struct fw_virtual_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint
struct vehicle_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint
struct mc_virtual_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct fw_virtual_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s _v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s _vtol_vehicle_status;
src/modules/vtol_att_control/vtol_type.h
+5 -5
View File
@@ -152,11 +152,11 @@ protected:
struct vehicle_attitude_s *_v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint
struct mc_virtual_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint
struct fw_virtual_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint
struct vehicle_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint
struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint
struct mc_virtual_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct fw_virtual_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s *_vtol_vehicle_status;
@@ -180,7 +180,7 @@ protected:
float _mc_pitch_weight = 1.0f; // weight for multicopter attitude controller pitch output
float _mc_yaw_weight = 1.0f; // weight for multicopter attitude controller yaw output
float _mc_throttle_weight = 1.0f; // weight for multicopter throttle command. Used to avoid
// motors spinning up or cutting too fast whend doing transitions.
// motors spinning up or cutting too fast when doing transitions.
float _thrust_transition = 0.0f; // thrust value applied during a front transition (tailsitter & tiltrotor only)
bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition