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removed vehicle_attitude subscription from fw_att_control

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This commit is contained in:
Youssef Demitri 2015-10-14 10:53:19 +02:00
parent 5092bcae70
commit e72e72cd65
1 changed files with 4 additions and 20 deletions
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24
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -66,7 +66,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
@ -125,7 +124,6 @@ private:
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle */
int _att_sub; /**< vehicle attitude subscription */
int _ctrl_state_sub; /**< control state subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
@ -144,7 +142,6 @@ private:
orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct control_state_s _ctrl_state; /**< control state */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
@ -325,7 +322,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_control_task(-1),
/* subscriptions */
_att_sub(-1),
_ctrl_state_sub(-1),
_accel_sub(-1),
_vcontrol_mode_sub(-1),
@ -352,7 +348,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_debug(false)
{
/* safely initialize structs */
_att = {};
_ctrl_state = {};
_accel = {};
_att_sp = {};
@ -610,7 +605,6 @@ FixedwingAttitudeControl::task_main()
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@ -640,7 +634,7 @@ FixedwingAttitudeControl::task_main()
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].fd = _ctrl_state_sub;
fds[1].events = POLLIN;
_task_running = true;
@ -685,7 +679,6 @@ FixedwingAttitudeControl::task_main()
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
@ -939,18 +932,9 @@ FixedwingAttitudeControl::task_main()
}
/* Prepare speed_body_u and speed_body_w */
float speed_body_u = 0.0f;
float speed_body_v = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
speed_body_u = _R(0, 0) * _global_pos.vel_n + _R(1, 0) * _global_pos.vel_e + _R(2, 0) * _global_pos.vel_d;
speed_body_v = _R(0, 1) * _global_pos.vel_n + _R(1, 1) * _global_pos.vel_e + _R(2, 1) * _global_pos.vel_d;
speed_body_w = _R(0, 2) * _global_pos.vel_n + _R(1, 2) * _global_pos.vel_e + _R(2, 2) * _global_pos.vel_d;
} else {
if (_debug && loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
float speed_body_u = _R(0, 0) * _global_pos.vel_n + _R(1, 0) * _global_pos.vel_e + _R(2, 0) * _global_pos.vel_d;
float speed_body_v = _R(0, 1) * _global_pos.vel_n + _R(1, 1) * _global_pos.vel_e + _R(2, 1) * _global_pos.vel_d;
float speed_body_w = _R(0, 2) * _global_pos.vel_n + _R(1, 2) * _global_pos.vel_e + _R(2, 2) * _global_pos.vel_d;
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};