fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 04:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactor: Name manual_control_setpoint the same way everywhere

Browse Source
This commit is contained in:
Matthias Grob
2020-06-22 12:06:27 -04:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control.hpp
+2 -2
View File
@@ -109,7 +109,7 @@ private:
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
@@ -120,7 +120,7 @@ private:
struct vehicle_attitude_s _v_att {}; /**< vehicle attitude */
struct vehicle_rates_setpoint_s _v_rates_sp {}; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
struct manual_control_setpoint_s _manual_control_setpoint {}; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
struct vehicle_land_detected_s _vehicle_land_detected {};
src/modules/mc_att_control/mc_att_control_main.cpp
+8 -8
View File
@@ -136,10 +136,10 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
if (reset_yaw_sp) {
_man_yaw_sp = yaw;
} else if (_manual_control_sp.z > 0.05f || _param_mc_airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
} else if (_manual_control_setpoint.z > 0.05f || _param_mc_airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
const float yaw_rate = math::radians(_param_mpc_man_y_max.get());
attitude_setpoint.yaw_sp_move_rate = _manual_control_sp.r * yaw_rate;
attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate;
_man_yaw_sp = wrap_pi(_man_yaw_sp + attitude_setpoint.yaw_sp_move_rate * dt);
}
@@ -155,8 +155,8 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
*/
_man_x_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_y_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_x_input_filter.update(_manual_control_sp.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_sp.y * _man_tilt_max);
_man_x_input_filter.update(_manual_control_setpoint.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_setpoint.y * _man_tilt_max);
const float x = _man_x_input_filter.getState();
const float y = _man_y_input_filter.getState();
@@ -219,7 +219,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
Quatf q_sp = Eulerf(attitude_setpoint.roll_body, attitude_setpoint.pitch_body, attitude_setpoint.yaw_body);
q_sp.copyTo(attitude_setpoint.q_d);
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_setpoint.z);
attitude_setpoint.timestamp = hrt_absolute_time();
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
@@ -299,7 +299,7 @@ MulticopterAttitudeControl::Run()
_last_run = now;
/* check for updates in other topics */
_manual_control_sp_sub.update(&_manual_control_sp);
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_v_control_mode_sub.update(&_v_control_mode);
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
_vehicle_status_sub.update(&_vehicle_status);
@@ -309,8 +309,8 @@ MulticopterAttitudeControl::Run()
* even bother running the attitude controllers */
if (_v_control_mode.flag_control_rattitude_enabled) {
_v_control_mode.flag_control_attitude_enabled =
fabsf(_manual_control_sp.y) <= _param_mc_ratt_th.get() &&
fabsf(_manual_control_sp.x) <= _param_mc_ratt_th.get();
fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() &&
fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get();
}
bool attitude_setpoint_generated = false;