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Refactor: Name manual_control_setpoint the same way everywhere

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This commit is contained in:
Matthias Grob
2020-06-22 15:06:47 +02:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
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src/modules/commander/rc_calibration.cpp
+7 -7
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@@ -52,17 +52,17 @@
int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
uORB::Subscription sub_man{ORB_ID(manual_control_setpoint)};
uORB::Subscription manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
px4_usleep(400000);
manual_control_setpoint_s sp{};
bool changed = sub_man.updated();
manual_control_setpoint_s manual_control_setpoint{};
bool changed = manual_control_setpoint_sub.updated();
if (!changed) {
mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
return PX4_ERROR;
}
sub_man.copy(&sp);
manual_control_setpoint_sub.copy(&manual_control_setpoint);
/* load trim values which are active */
float roll_trim_active;
@@ -83,15 +83,15 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
/* set parameters: the new trim values are the combination of active trim values
and the values coming from the remote control of the user
*/
float p = sp.y * roll_scale + roll_trim_active;
float p = manual_control_setpoint.y * roll_scale + roll_trim_active;
int p1r = param_set(param_find("TRIM_ROLL"), &p);
/*
we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs
*/
p = -sp.x * pitch_scale + pitch_trim_active;
p = -manual_control_setpoint.x * pitch_scale + pitch_trim_active;
int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = sp.r * yaw_scale + yaw_trim_active;
p = manual_control_setpoint.r * yaw_scale + yaw_trim_active;
int p3r = param_set(param_find("TRIM_YAW"), &p);
if (p1r != 0 || p2r != 0 || p3r != 0) {