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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/uuv_att_control/uuv_att_control.cpp
+8 -7
View File
@@ -95,10 +95,10 @@ void UUVAttitudeControl::vehicle_control_mode_poll()
void UUVAttitudeControl::manual_control_setpoint_poll()
{
bool updated = false;
orb_check(_manual_control_sub, &updated);
orb_check(_manual_control_setpoint_sub, &updated);
if (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);
}
}
@@ -250,7 +250,7 @@ void UUVAttitudeControl::run()
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -266,7 +266,7 @@ void UUVAttitudeControl::run()
/* Setup of loop */
fds[0].fd = _vehicle_attitude_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;
@@ -337,11 +337,12 @@ void UUVAttitudeControl::run()
if (fds[1].revents & POLLIN) {
// 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 (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
/* manual/direct control */
constrain_actuator_commands(_manual.y, -_manual.x, _manual.r, _manual.z);
constrain_actuator_commands(_manual_control_setpoint.y, -_manual_control_setpoint.x,
_manual_control_setpoint.r, _manual_control_setpoint.z);
}
}
@@ -363,7 +364,7 @@ void UUVAttitudeControl::run()
}
orb_unsubscribe(_vcontrol_mode_sub);
orb_unsubscribe(_manual_control_sub);
orb_unsubscribe(_manual_control_setpoint_sub);
orb_unsubscribe(_vehicle_attitude_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_sensor_combined_sub);
src/modules/uuv_att_control/uuv_att_control.hpp
+2 -2
View File
@@ -126,12 +126,12 @@ private:
int _vehicle_attitude_sub{-1}; /**< control state subscription */
int _angular_velocity_sub{-1}; /**< vehicle angular velocity subscription */
int _local_pos_sub{-1}; /**< local position subscription */
int _manual_control_sub{-1}; /**< notification of manual control updates */
int _manual_control_setpoint_sub{-1}; /**< notification of manual control updates */
int _vcontrol_mode_sub{-1}; /**< vehicle status subscription */
int _sensor_combined_sub{-1}; /**< sensor combined subscription */
actuator_controls_s _actuators {}; /**< actuator control inputs */
manual_control_setpoint_s _manual {}; /**< r/c channel data */
manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
vehicle_attitude_s _vehicle_attitude {}; /**< control state */
vehicle_angular_velocity_s _angular_velocity{}; /**< angular velocity */
vehicle_attitude_setpoint_s _vehicle_attitude_sp {};/**< vehicle attitude setpoint */