forked from Archive/PX4-Autopilot
mavlink_receiver: refactor forgotten manual_control_setpoint naming
This commit is contained in:
parent
f16286f3eb
commit
5579e319ff
|
@ -82,9 +82,9 @@ private:
|
||||||
void publishTorqueSetpoint(const hrt_abstime ×tamp_sample);
|
void publishTorqueSetpoint(const hrt_abstime ×tamp_sample);
|
||||||
void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
|
void publishThrustSetpoint(const hrt_abstime ×tamp_sample);
|
||||||
|
|
||||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||||
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
|
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
|
||||||
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
|
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
|
||||||
|
|
||||||
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
|
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_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)};
|
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 */
|
manual_control_setpoint_s _manual_control_setpoint{};
|
||||||
vehicle_status_s _vehicle_status {}; /**< vehicle status */
|
vehicle_status_s _vehicle_status{};
|
||||||
actuator_controls_s _actuator_controls {}; /**< actuator controls */
|
actuator_controls_s _actuator_controls{};
|
||||||
|
|
||||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
perf_counter_t _loop_perf;
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
|
@ -91,9 +91,9 @@ AirshipAttitudeControl::publish_actuator_controls()
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
_actuator_controls.control[0] = 0.0f;
|
_actuator_controls.control[0] = 0.0f;
|
||||||
_actuator_controls.control[1] = _manual_control_sp.x;
|
_actuator_controls.control[1] = _manual_control_setpoint.x;
|
||||||
_actuator_controls.control[2] = _manual_control_sp.r;
|
_actuator_controls.control[2] = _manual_control_setpoint.r;
|
||||||
_actuator_controls.control[3] = _manual_control_sp.z;
|
_actuator_controls.control[3] = _manual_control_setpoint.z;
|
||||||
}
|
}
|
||||||
|
|
||||||
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
|
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
|
||||||
|
@ -150,7 +150,7 @@ AirshipAttitudeControl::Run()
|
||||||
publishThrustSetpoint(angular_velocity.timestamp_sample);
|
publishThrustSetpoint(angular_velocity.timestamp_sample);
|
||||||
|
|
||||||
/* check for updates in manual control topic */
|
/* 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 */
|
/* check for updates in vehicle status topic */
|
||||||
_vehicle_status_sub.update(&_vehicle_status);
|
_vehicle_status_sub.update(&_vehicle_status);
|
||||||
|
|
|
@ -2129,22 +2129,22 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
|
||||||
void
|
void
|
||||||
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
|
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
|
||||||
{
|
{
|
||||||
mavlink_manual_control_t man;
|
mavlink_manual_control_t mavlink_manual_control;
|
||||||
mavlink_msg_manual_control_decode(msg, &man);
|
mavlink_msg_manual_control_decode(msg, &mavlink_manual_control);
|
||||||
|
|
||||||
// Check target
|
// 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;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
manual_control_setpoint_s manual{};
|
manual_control_setpoint_s manual_control_setpoint{};
|
||||||
manual.x = man.x / 1000.0f;
|
manual_control_setpoint.x = mavlink_manual_control.x / 1000.0f;
|
||||||
manual.y = man.y / 1000.0f;
|
manual_control_setpoint.y = mavlink_manual_control.y / 1000.0f;
|
||||||
manual.r = man.r / 1000.0f;
|
manual_control_setpoint.r = mavlink_manual_control.r / 1000.0f;
|
||||||
manual.z = man.z / 1000.0f;
|
manual_control_setpoint.z = mavlink_manual_control.z / 1000.0f;
|
||||||
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
|
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
|
||||||
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
|
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
|
||||||
_manual_control_input_pub.publish(manual);
|
_manual_control_input_pub.publish(manual_control_setpoint);
|
||||||
}
|
}
|
||||||
|
|
||||||
void
|
void
|
||||||
|
|
Loading…
Reference in New Issue