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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/rover_pos_control/RoverPositionControl.cpp
+10 -10
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@@ -108,10 +108,10 @@ void
RoverPositionControl::manual_control_setpoint_poll()
{
bool manual_updated;
orb_check(_manual_control_sub, &manual_updated);
orb_check(_manual_control_setpoint_sub, &manual_updated);
if (manual_updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
}
}
@@ -352,7 +352,7 @@ RoverPositionControl::run()
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -374,7 +374,7 @@ RoverPositionControl::run()
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _manual_control_sub;
fds[1].fd = _manual_control_setpoint_sub;
fds[1].events = POLLIN;
fds[2].fd = _sensor_combined_sub;
fds[2].events = POLLIN;
@@ -494,15 +494,15 @@ RoverPositionControl::run()
// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
// returning immediately and this loop will eat up resources.
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
if (manual_mode) {
/* manual/direct control */
//PX4_INFO("Manual mode!");
_act_controls.control[actuator_controls_s::INDEX_ROLL] = _manual.y;
_act_controls.control[actuator_controls_s::INDEX_PITCH] = -_manual.x;
_act_controls.control[actuator_controls_s::INDEX_YAW] = _manual.r; //TODO: Readd yaw scale param
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
_act_controls.control[actuator_controls_s::INDEX_ROLL] = _manual_control_setpoint.y;
_act_controls.control[actuator_controls_s::INDEX_PITCH] = -_manual_control_setpoint.x;
_act_controls.control[actuator_controls_s::INDEX_YAW] = _manual_control_setpoint.r; //TODO: Readd yaw scale param
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.z;
}
}
@@ -528,7 +528,7 @@ RoverPositionControl::run()
orb_unsubscribe(_control_mode_sub);
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_manual_control_sub);
orb_unsubscribe(_manual_control_setpoint_sub);
orb_unsubscribe(_pos_sp_triplet_sub);
orb_unsubscribe(_vehicle_attitude_sub);
orb_unsubscribe(_sensor_combined_sub);