forked from Archive/PX4-Autopilot
move attitude controllers to new wq:attitude_ctrl
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97bdfd9cec
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326d8efc16
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@ -65,22 +65,23 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 1472, -11};
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static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12};
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// PX4 att/pos controllers, highest priority after sensors.
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static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 7200, -13};
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static constexpr wq_config_t attitude_ctrl{"wq:attitude_ctrl", 1500, -13};
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static constexpr wq_config_t navigation_and_controllers{"wq:navigation_and_controllers", 7200, -14};
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static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -14};
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static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -15};
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static constexpr wq_config_t uavcan{"wq:uavcan", 3000, -15};
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static constexpr wq_config_t uavcan{"wq:uavcan", 3000, -16};
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static constexpr wq_config_t UART0{"wq:UART0", 1400, -16};
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static constexpr wq_config_t UART1{"wq:UART1", 1400, -17};
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static constexpr wq_config_t UART2{"wq:UART2", 1400, -18};
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static constexpr wq_config_t UART3{"wq:UART3", 1400, -19};
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static constexpr wq_config_t UART4{"wq:UART4", 1400, -20};
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static constexpr wq_config_t UART5{"wq:UART5", 1400, -21};
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static constexpr wq_config_t UART6{"wq:UART6", 1400, -22};
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static constexpr wq_config_t UART7{"wq:UART7", 1400, -23};
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static constexpr wq_config_t UART8{"wq:UART8", 1400, -24};
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static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -25};
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static constexpr wq_config_t UART0{"wq:UART0", 1400, -17};
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static constexpr wq_config_t UART1{"wq:UART1", 1400, -18};
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static constexpr wq_config_t UART2{"wq:UART2", 1400, -19};
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static constexpr wq_config_t UART3{"wq:UART3", 1400, -20};
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static constexpr wq_config_t UART4{"wq:UART4", 1400, -21};
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static constexpr wq_config_t UART5{"wq:UART5", 1400, -22};
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static constexpr wq_config_t UART6{"wq:UART6", 1400, -23};
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static constexpr wq_config_t UART7{"wq:UART7", 1400, -24};
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static constexpr wq_config_t UART8{"wq:UART8", 1400, -25};
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static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -26};
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static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
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@ -101,7 +101,7 @@ typedef struct {
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#endif
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// PX4 work queue starting high priority
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#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 12)
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#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 15)
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// Fast drivers - they need to run as quickly as possible to minimize control
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// latency.
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@ -176,7 +176,7 @@ private:
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AirspeedModule::AirspeedModule():
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
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{
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// initialise parameters
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update_params();
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@ -166,7 +166,7 @@ private:
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AttitudeEstimatorQ::AttitudeEstimatorQ() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
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{
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_vel_prev.zero();
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_pos_acc.zero();
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@ -542,7 +542,7 @@ private:
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Ekf2::Ekf2(bool replay_mode):
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_replay_mode(replay_mode),
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_ekf_update_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": update")),
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_params(_ekf.getParamHandle()),
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@ -42,7 +42,7 @@ using math::radians;
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FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
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_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
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_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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@ -37,7 +37,7 @@
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FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
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_launchDetector(this),
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@ -47,7 +47,7 @@ namespace land_detector
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LandDetector::LandDetector() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
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{}
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LandDetector::~LandDetector()
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@ -19,7 +19,7 @@ static const char *msg_label = "[lpe] "; // rate of land detector correction
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BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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// this block has no parent, and has name LPE
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SuperBlock(nullptr, "LPE"),
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@ -53,7 +53,7 @@ using namespace matrix;
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MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
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_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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@ -284,7 +284,7 @@ private:
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MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
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SuperBlock(nullptr, "MPC"),
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
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_vel_x_deriv(this, "VELD"),
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_vel_y_deriv(this, "VELD"),
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@ -199,7 +199,7 @@ private:
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Sensors::Sensors(bool hil_enabled) :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_hil_enabled(hil_enabled),
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_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
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_voted_sensors_update(_parameters, hil_enabled)
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@ -43,7 +43,7 @@ namespace sensors
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VehicleAcceleration::VehicleAcceleration() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_corrections(this, SensorCorrections::SensorType::Accelerometer)
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{
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_lp_filter.set_cutoff_frequency(kInitialRateHz, _param_imu_accel_cutoff.get());
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@ -43,7 +43,7 @@ static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
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VehicleAirData::VehicleAirData() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
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{
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_voter.set_timeout(SENSOR_TIMEOUT);
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}
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@ -43,7 +43,7 @@ namespace sensors
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VehicleIMU::VehicleIMU(uint8_t accel_index, uint8_t gyro_index) :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
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WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
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_sensor_accel_integrated_sub(this, ORB_ID(sensor_accel_integrated), accel_index),
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_sensor_gyro_integrated_sub(this, ORB_ID(sensor_gyro_integrated), gyro_index),
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_accel_corrections(this, SensorCorrections::SensorType::Accelerometer),
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