mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
#if AP_DDS_ENABLED
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#include "AP_DDS_ExternalControl.h"
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#include "AP_DDS_Frames.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_ExternalControl/AP_ExternalControl.h>
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bool AP_DDS_External_Control::handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel)
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{
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auto *external_control = AP::externalcontrol();
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if (external_control == nullptr) {
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return false;
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}
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if (strcmp(cmd_vel.header.frame_id, BASE_LINK_FRAME_ID) == 0) {
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// Convert commands from body frame (x-forward, y-left, z-up) to NED.
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Vector3f linear_velocity;
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Vector3f linear_velocity_base_link {
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float(cmd_vel.twist.linear.x),
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float(cmd_vel.twist.linear.y),
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float(-cmd_vel.twist.linear.z) };
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const float yaw_rate = -cmd_vel.twist.angular.z;
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auto &ahrs = AP::ahrs();
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linear_velocity = ahrs.body_to_earth(linear_velocity_base_link);
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return external_control->set_linear_velocity_and_yaw_rate(linear_velocity, yaw_rate);
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}
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else if (strcmp(cmd_vel.header.frame_id, MAP_FRAME) == 0) {
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// Convert commands from ENU to NED frame
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Vector3f linear_velocity {
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float(cmd_vel.twist.linear.y),
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float(cmd_vel.twist.linear.x),
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float(-cmd_vel.twist.linear.z) };
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const float yaw_rate = -cmd_vel.twist.angular.z;
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return external_control->set_linear_velocity_and_yaw_rate(linear_velocity, yaw_rate);
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}
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return false;
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}
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#endif // AP_DDS_ENABLED
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