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MultiCopterRateControl: refactor setpoint naming

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This commit is contained in:
Matthias Grob
2021-12-13 18:26:04 +01:00
parent 1211a457d7
commit fbc109436f
2 changed files with 43 additions and 41 deletions
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src/modules/mc_rate_control/MulticopterRateControl.hpp
+6 -6
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@@ -94,7 +94,7 @@ private:
void updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt);
void publishTorqueSetpoint(const matrix::Vector3f &torque_sp, const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const float thrust_setpoint, const hrt_abstime &timestamp_sample);
RateControl _rate_control; ///< class for rate control calculations
@@ -103,7 +103,7 @@ private:
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _v_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
@@ -115,7 +115,7 @@ private:
uORB::Publication<actuator_controls_s> _actuators_0_pub;
uORB::Publication<actuator_controls_status_s> _actuator_controls_status_0_pub{ORB_ID(actuator_controls_status_0)};
uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
@@ -132,9 +132,9 @@ private:
perf_counter_t _loop_perf; /**< loop duration performance counter */
matrix::Vector3f _rates_sp; /**< angular rates setpoint */
float _thrust_sp{0.0f}; /**< thrust setpoint */
// keep setpoint values between updates
matrix::Vector3f _rates_setpoint{};
float _thrust_setpoint{0.0f};
hrt_abstime _last_run{0};