From f135e6dda03871999b18a93cabe12ee151baa70e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 12 Jan 2018 13:47:38 +0100 Subject: [PATCH] FlightTasks: switch field name from thr to thrust + some code spacing --- msg/vehicle_local_position_setpoint.msg | 24 +++++++++---------- src/lib/FlightTasks/tasks/FlightTask.hpp | 2 +- .../mc_pos_control/PositionControl.cpp | 4 ++-- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/msg/vehicle_local_position_setpoint.msg b/msg/vehicle_local_position_setpoint.msg index ee282b8016..e44175d767 100644 --- a/msg/vehicle_local_position_setpoint.msg +++ b/msg/vehicle_local_position_setpoint.msg @@ -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 diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp index b85489ac52..f018b1ad24 100644 --- a/src/lib/FlightTasks/tasks/FlightTask.hpp +++ b/src/lib/FlightTasks/tasks/FlightTask.hpp @@ -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 *_sub_vehicle_local_position{nullptr}; diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index 94dda0ef84..608c7c9b48 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -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; } }