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vehicle_attitude_setpoint: get rid of unused q_d_valid flag

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Matthias Grob
2020-02-27 09:17:52 +01:00
parent b53bd2b77f
commit f90d3671c0
13 changed files with 2 additions and 30 deletions
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src/modules/mc_pos_control/PositionControl/ControlMath.cpp
-1
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@@ -94,7 +94,6 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo
// copy quaternion setpoint to attitude setpoint topic
Quatf q_sp = R_sp;
q_sp.copyTo(att_sp.q_d);
att_sp.q_d_valid = true;
// calculate euler angles, for logging only, must not be used for control
Eulerf euler = R_sp;
src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
-1
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@@ -62,7 +62,6 @@ TEST(PositionControlTest, EmptySetpoint)
EXPECT_FLOAT_EQ(attitude.yaw_body, 0.f);
EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
//EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(attitude.roll_reset_integral, false);
EXPECT_EQ(attitude.pitch_reset_integral, false);