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fw_pos_control_l1: move to WQ with uORB callback scheduling

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Daniel Agar
2019-08-07 23:13:21 -04:00
committed by GitHub
parent cab0aee2a0
commit c66fc85630
2 changed files with 132 additions and 141 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+10 -11
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -65,8 +65,9 @@
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <px4_work_queue/WorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
@@ -123,28 +124,25 @@ static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
public px4::WorkItem
{
public:
FixedwingPositionControl();
~FixedwingPositionControl() override;
FixedwingPositionControl(const FixedwingPositionControl &) = delete;
FixedwingPositionControl operator=(const FixedwingPositionControl &other) = delete;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static FixedwingPositionControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
void Run() override;
bool init();
/** @see ModuleBase::print_status() */
int print_status() override;
@@ -152,7 +150,7 @@ public:
private:
orb_advert_t _mavlink_log_pub{nullptr};
int _global_pos_sub{-1};
uORB::SubscriptionCallbackWorkItem _global_pos_sub{this, ORB_ID(vehicle_global_position)};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription */
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
@@ -188,6 +186,7 @@ private:
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
perf_counter_t _loop_perf; ///< loop performance counter */
perf_counter_t _loop_interval_perf; ///< loop interval performance counter */
float _hold_alt{0.0f}; ///< hold altitude for altitude mode */
float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched */