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vehicle_rates_setpoint: log wheel controller yaw rate on common yaw rate channel

This commit is contained in:
Thomas Stastny 2022-07-12 12:14:19 +02:00 committed by Daniel Agar
parent c447064596
commit 63e4ea23b7
2 changed files with 1 additions and 5 deletions
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3
msg/vehicle_rates_setpoint.msg
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@ -5,9 +5,6 @@ float32 roll # [rad/s] roll rate setpoint
float32 pitch # [rad/s] pitch rate setpoint float32 pitch # [rad/s] pitch rate setpoint
float32 yaw # [rad/s] yaw rate setpoint float32 yaw # [rad/s] yaw rate setpoint
# [rad/s] yaw rate setpoint the wheel attempts to track (the wheel controller has different gains than the yaw controller)
float32 yaw_via_wheel
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand. # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero. # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1] float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]

3
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -601,8 +601,7 @@ void FixedwingAttitudeControl::Run()
*/ */
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate(); _rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate(); _rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate(); _rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_bodyrate();
_rates_sp.yaw_via_wheel = _wheel_ctrl.get_desired_rate();
_rates_sp.timestamp = hrt_absolute_time(); _rates_sp.timestamp = hrt_absolute_time();