mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 15:13:34 +08:00
Silvan Fuhrer
b16f16598b
MC/FW rate controller and auto tuner: remove actuator_controls AirshipAttControl: remove actuator_controls MulticopterLandDetector: remove actuator_controls mavlink streams vfr_hud and high_latency2: remove actuator_controls RoverPositionController: remove actuator_controls UUVAttitudeController: remove actuator_controls battery: use length of thrust_setpoint for throttle compensation VehicleMagnetometer: use length of thrust_setpoint for throttle compensation Signed-off-by: Silvan Fuhrer
97 lines
3.6 KiB
C++
97 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionCallback.hpp>
|
|
#include <uORB/topics/vehicle_status.h>
|
|
#include <uORB/topics/manual_control_setpoint.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/vehicle_angular_velocity.h>
|
|
#include <uORB/topics/vehicle_thrust_setpoint.h>
|
|
#include <uORB/topics/vehicle_torque_setpoint.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
|
|
public px4::WorkItem
|
|
{
|
|
public:
|
|
AirshipAttitudeControl();
|
|
|
|
virtual ~AirshipAttitudeControl();
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
/** @see ModuleBase::print_status() */
|
|
int print_status() override;
|
|
|
|
void Run() override;
|
|
|
|
bool init();
|
|
|
|
private:
|
|
|
|
/**
|
|
* Check for parameter update and handle it.
|
|
*/
|
|
void parameter_update_poll();
|
|
|
|
void publishTorqueSetpoint(const hrt_abstime ×tamp_sample);
|
|
void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
|
|
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
|
|
|
|
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
|
|
|
|
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)};
|
|
|
|
manual_control_setpoint_s _manual_control_setpoint{};
|
|
vehicle_status_s _vehicle_status{};
|
|
|
|
perf_counter_t _loop_perf;
|
|
|
|
};
|