fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 23:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replace rate controller with RateControlLibrary

Browse Source 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
This commit is contained in:
Jaeyoung-Lim
2022-08-19 09:40:48 +02:00
committed by Silvan Fuhrer
parent 44a18acd51
commit f2877ce585
18 changed files with 70 additions and 232 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+7
View File
@@ -31,6 +31,10 @@
*
****************************************************************************/
#pragma once
#include <lib/rate_control/rate_control.hpp>
#include <drivers/drv_hrt.h>
#include "ecl_pitch_controller.h"
#include "ecl_roll_controller.h"
@@ -61,6 +65,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -120,6 +125,7 @@ private:
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
@@ -235,6 +241,7 @@ private:
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
RateControl _rate_control; ///< class for rate control calculations
/**
* @brief Update flap control setting