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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 12:06:27 -04:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+9 -9
View File
@@ -109,10 +109,10 @@ MulticopterRateControl::get_landing_gear_state()
float landing_gear = landing_gear_s::GEAR_DOWN; // default to down
if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
if (_manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
landing_gear = landing_gear_s::GEAR_UP;
} else if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
} else if (_manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
// Switching the gear off does put it into a safe defined state
_gear_state_initialized = true;
}
@@ -173,7 +173,7 @@ MulticopterRateControl::Run()
_vehicle_status_sub.update(&_vehicle_status);
const bool manual_control_updated = _manual_control_sp_sub.update(&_manual_control_sp);
const bool manual_control_updated = _manual_control_setpoint_sub.update(&_manual_control_setpoint);
// generate the rate setpoint from sticks?
bool manual_rate_sp = false;
@@ -199,8 +199,8 @@ MulticopterRateControl::Run()
// if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
if (_v_control_mode.flag_control_rattitude_enabled) {
manual_rate_sp =
(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());
}
} else {
@@ -212,12 +212,12 @@ MulticopterRateControl::Run()
// manual rates control - ACRO mode
const Vector3f man_rate_sp{
math::superexpo(_manual_control_sp.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(-_manual_control_sp.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(_manual_control_sp.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
math::superexpo(_manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(-_manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
math::superexpo(_manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
_rates_sp = man_rate_sp.emult(_acro_rate_max);
_thrust_sp = _manual_control_sp.z;
_thrust_sp = _manual_control_setpoint.z;
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};
src/modules/mc_rate_control/MulticopterRateControl.hpp
+2 -2
View File
@@ -95,7 +95,7 @@ private:
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -112,7 +112,7 @@ private:
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
landing_gear_s _landing_gear{};
manual_control_setpoint_s _manual_control_sp{};
manual_control_setpoint_s _manual_control_setpoint{};
vehicle_control_mode_s _v_control_mode{};
vehicle_status_s _vehicle_status{};