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mc att control: ran fix code style script

This commit is contained in:
Thomas Gubler 2014-12-05 09:02:06 +01:00
parent 4c950eb76b
commit 2f646e7082
5 changed files with 71 additions and 53 deletions
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14
src/modules/mc_att_control/mc_att_control_base.cpp
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@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_I.identity();
}
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
{
}
void MulticopterAttitudeControlBase::control_attitude(float dt) {
void MulticopterAttitudeControlBase::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false;
@ -124,12 +126,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < -yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
_publish_att_sp = true;
}
@ -259,7 +263,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed) {
_rates_int.zero();
@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
}
void MulticopterAttitudeControlBase::set_actuator_controls() {
void MulticopterAttitudeControlBase::set_actuator_controls()
{
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;

3
src/modules/mc_att_control/mc_att_control_base.h
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@ -64,7 +64,8 @@
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControlBase {
class MulticopterAttitudeControlBase
{
public:
/**
* Constructor

19
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -477,8 +477,9 @@ MulticopterAttitudeControl::task_main()
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0)
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@ -523,6 +524,7 @@ MulticopterAttitudeControl::task_main()
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
&_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
&_v_att_sp);
@ -547,7 +549,8 @@ MulticopterAttitudeControl::task_main()
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
_manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
@ -630,18 +633,21 @@ MulticopterAttitudeControl::start()
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 1)
if (argc < 1) {
errx(1, "usage: mc_att_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr)
if (mc_att_control::g_control != nullptr) {
errx(1, "already running");
}
mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr)
if (mc_att_control::g_control == nullptr) {
errx(1, "alloc failed");
}
if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control;
@ -653,8 +659,9 @@ int mc_att_control_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr)
if (mc_att_control::g_control == nullptr) {
errx(1, "not running");
}
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;

56
src/modules/mc_att_control/mc_att_control_sim.cpp
View File

@ -46,7 +46,8 @@
using namespace std;
#endif
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) {
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
{
math::Quaternion quat;
quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x();
@ -58,48 +59,51 @@ void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double>
_v_att.q[2] = quat(2);
_v_att.q[3] = quat(3);
math::Matrix<3,3> Rot = quat.to_dcm();
_v_att.R[0][0] = Rot(0,0);
_v_att.R[1][0] = Rot(1,0);
_v_att.R[2][0] = Rot(2,0);
_v_att.R[0][1] = Rot(0,1);
_v_att.R[1][1] = Rot(1,1);
_v_att.R[2][1] = Rot(2,1);
_v_att.R[0][2] = Rot(0,2);
_v_att.R[1][2] = Rot(1,2);
_v_att.R[2][2] = Rot(2,2);
math::Matrix<3, 3> Rot = quat.to_dcm();
_v_att.R[0][0] = Rot(0, 0);
_v_att.R[1][0] = Rot(1, 0);
_v_att.R[2][0] = Rot(2, 0);
_v_att.R[0][1] = Rot(0, 1);
_v_att.R[1][1] = Rot(1, 1);
_v_att.R[2][1] = Rot(2, 1);
_v_att.R[0][2] = Rot(0, 2);
_v_att.R[1][2] = Rot(1, 2);
_v_att.R[2][2] = Rot(2, 2);
_v_att.R_valid = true;
}
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
{
// check if this is consistent !!!
_v_att.rollspeed = angular_rate(0);
_v_att.pitchspeed = angular_rate(1);
_v_att.yawspeed = angular_rate(2);
}
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
{
_v_att_sp.roll_body = control_attitude_thrust_reference(0);
_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
_v_att_sp.thrust = (control_attitude_thrust_reference(3) -30)*(-1)/30;
_v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
// setup rotation matrix
math::Matrix<3,3> Rot_sp;
Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
_v_att_sp.R_body[0][0] = Rot_sp(0,0);
_v_att_sp.R_body[1][0] = Rot_sp(1,0);
_v_att_sp.R_body[2][0] = Rot_sp(2,0);
_v_att_sp.R_body[0][1] = Rot_sp(0,1);
_v_att_sp.R_body[1][1] = Rot_sp(1,1);
_v_att_sp.R_body[2][1] = Rot_sp(2,1);
_v_att_sp.R_body[0][2] = Rot_sp(0,2);
_v_att_sp.R_body[1][2] = Rot_sp(1,2);
_v_att_sp.R_body[2][2] = Rot_sp(2,2);
math::Matrix<3, 3> Rot_sp;
Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
_v_att_sp.R_body[0][0] = Rot_sp(0, 0);
_v_att_sp.R_body[1][0] = Rot_sp(1, 0);
_v_att_sp.R_body[2][0] = Rot_sp(2, 0);
_v_att_sp.R_body[0][1] = Rot_sp(0, 1);
_v_att_sp.R_body[1][1] = Rot_sp(1, 1);
_v_att_sp.R_body[2][1] = Rot_sp(2, 1);
_v_att_sp.R_body[0][2] = Rot_sp(0, 2);
_v_att_sp.R_body[1][2] = Rot_sp(1, 2);
_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
}
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) {
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
{
motor_inputs(0) = _actuators.control[0];
motor_inputs(1) = _actuators.control[1];
motor_inputs(2) = _actuators.control[2];

6
src/modules/mc_att_control/mc_att_control_sim.h
View File

@ -82,9 +82,9 @@ public:
/* setters and getters for interface with euroc-gazebo simulator */
void set_attitude(const Eigen::Quaternion<double> attitude);
void set_attitude_rates(const Eigen::Vector3d& angular_rate);
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d& motor_inputs);
void set_attitude_rates(const Eigen::Vector3d &angular_rate);
void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d &motor_inputs);
protected:
void vehicle_attitude_setpoint_poll() {};