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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/tiltrotor.cpp
+2 -17
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@@ -252,8 +252,7 @@ void Tiltrotor::update_vtol_state()
void Tiltrotor::update_mc_state()
{
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
VtolType::update_mc_state();
// make sure motors are not tilted
_tilt_control = _params_tiltrotor.tilt_mc;
@@ -268,16 +267,11 @@ void Tiltrotor::update_mc_state()
set_idle_mc();
flag_idle_mc = true;
}
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
}
void Tiltrotor::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();
// make sure motors are tilted forward
_tilt_control = _params_tiltrotor.tilt_fw;
@@ -292,10 +286,6 @@ void Tiltrotor::update_fw_state()
set_idle_fw();
flag_idle_mc = false;
}
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
_mc_yaw_weight = 0.0f;
}
void Tiltrotor::update_transition_state()
@@ -374,11 +364,6 @@ void Tiltrotor::update_transition_state()
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Tiltrotor::update_external_state()
{
}
/**
* Write data to actuator output topic.
*/