fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 01:00:35 +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 15:06:47 +02:00
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_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{};