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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+5 -5
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@@ -127,11 +127,11 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
if (reset_yaw_sp) {
_man_yaw_sp = yaw;
} else if (math::constrain(_manual_control_setpoint.chosen_input.z, 0.0f, 1.0f) > 0.05f
} else if (math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f) > 0.05f
|| _param_mc_airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
const float yaw_rate = math::radians(_param_mpc_man_y_max.get());
attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.chosen_input.r * yaw_rate;
attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate;
_man_yaw_sp = wrap_pi(_man_yaw_sp + attitude_setpoint.yaw_sp_move_rate * dt);
}
@@ -147,8 +147,8 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
*/
_man_x_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_y_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_x_input_filter.update(_manual_control_setpoint.chosen_input.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_setpoint.chosen_input.y * _man_tilt_max);
_man_x_input_filter.update(_manual_control_setpoint.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_setpoint.y * _man_tilt_max);
const float x = _man_x_input_filter.getState();
const float y = _man_y_input_filter.getState();
@@ -211,7 +211,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
Quatf q_sp = Eulerf(attitude_setpoint.roll_body, attitude_setpoint.pitch_body, attitude_setpoint.yaw_body);
q_sp.copyTo(attitude_setpoint.q_d);
attitude_setpoint.thrust_body[2] = -throttle_curve(math::constrain(_manual_control_setpoint.chosen_input.z, 0.0f,
attitude_setpoint.thrust_body[2] = -throttle_curve(math::constrain(_manual_control_setpoint.z, 0.0f,
1.0f));
attitude_setpoint.timestamp = hrt_absolute_time();