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mavlink_receiver: refactor forgotten manual_control_setpoint naming

This commit is contained in:
Matthias Grob 2020-06-25 10:56:12 +02:00
parent f16286f3eb
commit 5579e319ff
3 changed files with 22 additions and 22 deletions
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14
src/modules/airship_att_control/airship_att_control.hpp
View File

@ -82,9 +82,9 @@ private:
void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
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)};
@ -92,10 +92,10 @@ private:
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_sp {}; /**< manual control setpoint */
vehicle_status_s _vehicle_status {}; /**< vehicle status */
actuator_controls_s _actuator_controls {}; /**< actuator controls */
manual_control_setpoint_s _manual_control_setpoint{};
vehicle_status_s _vehicle_status{};
actuator_controls_s _actuator_controls{};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_perf;
};

8
src/modules/airship_att_control/airship_att_control_main.cpp
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@ -91,9 +91,9 @@ AirshipAttitudeControl::publish_actuator_controls()
} else {
_actuator_controls.control[0] = 0.0f;
_actuator_controls.control[1] = _manual_control_sp.x;
_actuator_controls.control[2] = _manual_control_sp.r;
_actuator_controls.control[3] = _manual_control_sp.z;
_actuator_controls.control[1] = _manual_control_setpoint.x;
_actuator_controls.control[2] = _manual_control_setpoint.r;
_actuator_controls.control[3] = _manual_control_setpoint.z;
}
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
@ -150,7 +150,7 @@ AirshipAttitudeControl::Run()
publishThrustSetpoint(angular_velocity.timestamp_sample);
/* check for updates in manual control topic */
_manual_control_sp_sub.update(&_manual_control_sp);
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
/* check for updates in vehicle status topic */
_vehicle_status_sub.update(&_vehicle_status);

22
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -2129,22 +2129,22 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
mavlink_manual_control_t mavlink_manual_control;
mavlink_msg_manual_control_decode(msg, &mavlink_manual_control);
// Check target
if (man.target != 0 && man.target != _mavlink->get_system_id()) {
if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink->get_system_id()) {
return;
}
manual_control_setpoint_s manual{};
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
manual_control_setpoint_s manual_control_setpoint{};
manual_control_setpoint.x = mavlink_manual_control.x / 1000.0f;
manual_control_setpoint.y = mavlink_manual_control.y / 1000.0f;
manual_control_setpoint.r = mavlink_manual_control.r / 1000.0f;
manual_control_setpoint.z = mavlink_manual_control.z / 1000.0f;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_setpoint);
}
void