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uuv_att_control: Variable definition in processing (#22697)

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murata,katsutoshi 2024-01-30 01:04:10 +09:00 committed by GitHub
parent 077baeae52
commit e8b3778f81
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1 changed files with 6 additions and 13 deletions
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19
src/modules/uuv_att_control/uuv_att_control.cpp
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@ -138,13 +138,6 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude
*/
Eulerf euler_angles(matrix::Quatf(attitude.q));
float roll_u;
float pitch_u;
float yaw_u;
float thrust_x;
float thrust_y;
float thrust_z;
float roll_body = attitude_setpoint.roll_body;
float pitch_body = attitude_setpoint.pitch_body;
float yaw_body = attitude_setpoint.yaw_body;
@ -186,14 +179,14 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude
torques(1) = torques(1) - omega(1) * _param_pitch_d.get(); /**< Pitch */
torques(2) = torques(2) - omega(2) * _param_yaw_d.get(); /**< Yaw */
roll_u = torques(0);
pitch_u = torques(1);
yaw_u = torques(2);
float roll_u = torques(0);
float pitch_u = torques(1);
float yaw_u = torques(2);
// take thrust as
thrust_x = attitude_setpoint.thrust_body[0];
thrust_y = attitude_setpoint.thrust_body[1];
thrust_z = attitude_setpoint.thrust_body[2];
float thrust_x = attitude_setpoint.thrust_body[0];
float thrust_y = attitude_setpoint.thrust_body[1];
float thrust_z = attitude_setpoint.thrust_body[2];
constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_x, thrust_y, thrust_z);