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VTOL: pull up generic setpoint publishing

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This commit is contained in:
tumbili
2016-02-18 18:55:56 +01:00
committed by Lorenz Meier
parent 967b404de8
commit fa52aa322a
10 changed files with 152 additions and 177 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -12
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@@ -36,6 +36,7 @@
*
* @author Simon Wilks <simon@uaventure.com>
* @author Roman Bapst <bapstroman@gmail.com>
* @author Andreas Antener <andreas@uaventure.com>
* @author Sander Smeets <sander@droneslab.com>
*
*/
@@ -265,16 +266,9 @@ void Standard::update_transition_state()
_mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f);
}
void Standard::update_mc_state()
{
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Standard::update_fw_state()
{
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
VtolType::update_fw_state();
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
if (!_flag_enable_mc_motors) {
@@ -284,10 +278,6 @@ void Standard::update_fw_state()
}
}
void Standard::update_external_state()
{
}
/**
* Prepare message to acutators with data from mc and fw attitude controllers. An mc attitude weighting will determine
* what proportion of control should be applied to each of the control groups (mc and fw).