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FlightTasks: switch field name from thr to thrust + some code spacing

This commit is contained in:
Matthias Grob 2018-01-12 13:47:38 +01:00 committed by Beat Küng
parent f8e4e82bba
commit f135e6dda0
3 changed files with 15 additions and 15 deletions
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24
msg/vehicle_local_position_setpoint.msg
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@ -1,15 +1,15 @@
# Local position setpoint in NED frame
# setting something to NaN means the state should not be controlled
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 yaw # in radians NED -PI..+PI
float32 yawspeed# in radians/sec
float32 vx # in meters/sec
float32 vy # in meters/sec
float32 vz # in meters/sec
float32 acc_x # in meters/(sec*sec)
float32 acc_y # in meters/(sec*sec)
float32 acc_z # in meters/(sec*sec)
float32[3] thr # normalized thrust vector in NED
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 yaw # in radians NED -PI..+PI
float32 yawspeed # in radians/sec
float32 vx # in meters/sec
float32 vy # in meters/sec
float32 vz # in meters/sec
float32 acc_x # in meters/(sec*sec)
float32 acc_y # in meters/(sec*sec)
float32 acc_z # in meters/(sec*sec)
float32[3] thrust # normalized thrust vector in NED

2
src/lib/FlightTasks/tasks/FlightTask.hpp
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@ -131,7 +131,7 @@ protected:
void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
/* Put the thrust setpoint produced by the task into the setpoint message */
void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyTo(_vehicle_local_position_setpoint.thr);}
void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyTo(_vehicle_local_position_setpoint.thrust); }
private:
uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};

4
src/modules/mc_pos_control/PositionControl.cpp
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@ -90,7 +90,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
_pos_sp = Data(&setpoint.x);
_vel_sp = Data(&setpoint.vx);
_acc_sp = Data(&setpoint.acc_x);
_thr_sp = Data(setpoint.thr);
_thr_sp = Data(setpoint.thrust);
_yaw_sp = setpoint.yaw; //integrate
_yawspeed_sp = setpoint.yawspeed;
_interfaceMapping();
@ -100,7 +100,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
*/
_skipController = false;
if (PX4_ISFINITE(setpoint.thr[0]) && PX4_ISFINITE(setpoint.thr[1]) && PX4_ISFINITE(setpoint.thr[2])) {
if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
_skipController = true;
}
}