From f99471f34ce4fe4c6b6b549522dec2c4bc78104a Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 6 Mar 2018 18:57:09 +0000
Subject: [PATCH] PositionControl: refactor remove Data define for Vector
This define results in super unreadable code.
---
.../mc_pos_control/PositionControl.cpp | 22 +++++++++----------
1 file changed, 10 insertions(+), 12 deletions(-)
diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index 781fc9e189..0b5d4e6294 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -50,8 +50,6 @@
using namespace matrix;
-using Data = matrix::Vector3f;
-
PositionControl::PositionControl()
{
_Pz_h = param_find("MPC_Z_P");
@@ -73,20 +71,20 @@ PositionControl::PositionControl()
_setParams();
};
-void PositionControl::updateState(const struct vehicle_local_position_s state, const Data &vel_dot)
+void PositionControl::updateState(const struct vehicle_local_position_s state, const Vector3f &vel_dot)
{
- _pos = Data(&state.x);
- _vel = Data(&state.vx);
+ _pos = Vector3f(&state.x);
+ _vel = Vector3f(&state.vx);
_yaw = state.yaw;
_vel_dot = vel_dot;
}
void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s setpoint)
{
- _pos_sp = Data(&setpoint.x);
- _vel_sp = Data(&setpoint.vx);
- _acc_sp = Data(&setpoint.acc_x);
- _thr_sp = Data(setpoint.thrust);
+ _pos_sp = Vector3f(&setpoint.x);
+ _vel_sp = Vector3f(&setpoint.vx);
+ _acc_sp = Vector3f(&setpoint.acc_x);
+ _thr_sp = Vector3f(setpoint.thrust);
_yaw_sp = setpoint.yaw;
_yawspeed_sp = setpoint.yawspeed;
_interfaceMapping();
@@ -204,12 +202,12 @@ void PositionControl::_velocityController(const float &dt)
*
*/
- Data vel_err = _vel_sp - _vel;
+ Vector3f vel_err = _vel_sp - _vel;
/* TODO: add offboard acceleration mode
* PID-controller */
- Data offset(0.0f, 0.0f, _ThrHover);
- Data thr_sp = Pv.emult(vel_err) + Dv.emult(_vel_dot) + _thr_int - offset;
+ Vector3f offset(0.0f, 0.0f, _ThrHover);
+ Vector3f thr_sp = Pv.emult(vel_err) + Dv.emult(_vel_dot) + _thr_int - offset;
/* Get maximum tilt */
float tilt_max = PX4_ISFINITE(_constraints.tilt_max) ? _constraints.tilt_max : M_PI_2_F;
--
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