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Make sure vehicle_thrust_setpoint is always published before vehicle_torque_setpoint

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After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
This commit is contained in:
Matthias Grob
2025-06-05 08:46:30 +02:00
committed by Silvan Fuhrer
parent ff2b82dc51
commit fdc4766da6
6 changed files with 8 additions and 8 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -1
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@@ -46,8 +46,8 @@ using math::radians;
MulticopterRateControl::MulticopterRateControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_mc) : ORB_ID(vehicle_torque_setpoint)),
_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_mc) : ORB_ID(vehicle_thrust_setpoint)),
_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_mc) : ORB_ID(vehicle_torque_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
src/modules/mc_rate_control/MulticopterRateControl.hpp
+1 -1
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@@ -107,8 +107,8 @@ private:
uORB::Publication<actuator_controls_status_s> _actuator_controls_status_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> _vehicle_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub;
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub;
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub;
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_status_s _vehicle_status{};