From 6dbf4e45733c551d67038ba85f704ce937fbae3c Mon Sep 17 00:00:00 2001
From: Youssef Demitri <youssefyassa@gmail.com>
Date: Thu, 8 Oct 2015 22:43:00 +0200
Subject: [PATCH] integrated ctrl state rates in mc_att_control
---
.../mc_att_control/mc_att_control_main.cpp | 15 +++++++++++----
1 file changed, 11 insertions(+), 4 deletions(-)
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 830f48dff8..360362f75f 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -76,6 +76,7 @@
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
@@ -128,6 +129,7 @@ private:
int _control_task; /**< task handle */
int _v_att_sub; /**< vehicle attitude subscription */
+ int _ctrl_state_sub; /**< control state subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
@@ -147,6 +149,7 @@ private:
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
+ struct control_state_s _ctrl_state; /**< control state */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
@@ -304,6 +307,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* subscriptions */
_v_att_sub(-1),
+ _ctrl_state_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
@@ -326,6 +330,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
{
memset(&_v_att, 0, sizeof(_v_att));
+ memset(&_ctrl_state, 0, sizeof(_ctrl_state));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
@@ -708,9 +713,9 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
/* current body angular rates */
math::Vector<3> rates;
- rates(0) = _v_att.rollspeed;
- rates(1) = _v_att.pitchspeed;
- rates(2) = _v_att.yawspeed;
+ rates(0) = _ctrl_state.roll_rate;
+ rates(1) = _ctrl_state.pitch_rate;
+ rates(2) = _ctrl_state.yaw_rate;
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
@@ -749,6 +754,7 @@ MulticopterAttitudeControl::task_main()
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+ _ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
@@ -798,8 +804,9 @@ MulticopterAttitudeControl::task_main()
dt = 0.02f;
}
- /* copy attitude topic */
+ /* copy attitude and control state topics */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
+ orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
/* check for updates in other topics */
parameter_update_poll();
--
GitLab