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Rover position controller: Modernize implementation

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This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
This commit is contained in:
Lorenz Meier
2021-02-14 11:17:28 +01:00
parent bb0b4db028
commit ec2cf70276
5 changed files with 59 additions and 82 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
-4
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@@ -62,7 +62,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -109,7 +108,6 @@ private:
int _pos_sp_triplet_sub{-1};
int _att_sp_sub{-1};
int _vehicle_attitude_sub{-1};
int _sensor_combined_sub{-1};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -121,7 +119,6 @@ private:
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
sensor_combined_s _sensor_combined{};
uORB::SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
@@ -181,7 +178,6 @@ private:
*/
void parameters_update(bool force = false);
void manual_control_setpoint_poll();
void position_setpoint_triplet_poll();
void attitude_setpoint_poll();
void vehicle_control_mode_poll();