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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-05 09:29:57 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-05 09:29:57 +0100 |
commit | 417bc91363c2607906c612089cb4b7197a60f531 (patch) | |
tree | 3ec04fc6f9668b5b6ecac8a71e254246cda9239f /src/modules/mc_att_control | |
parent | 85aa6554ad90e392a9538006f8cc483d481f0bbd (diff) | |
download | px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.tar.gz px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.tar.bz2 px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.zip |
mc att: more cleanup between base and main class
Diffstat (limited to 'src/modules/mc_att_control')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.cpp | 10 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 10 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 12 |
3 files changed, 20 insertions, 12 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index a3b0340d2..305fbaf89 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -32,6 +32,11 @@ /** * @file mc_att_control_base.h * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> * @author Roman Bapst <bapstr@ethz.ch> * */ @@ -47,11 +52,6 @@ using namespace std; #endif MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : - _task_should_exit(false), - _control_task(-1), - - _actuators_0_circuit_breaker_enabled(false), - _publish_att_sp(false) { diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index e7793e624..662d32ee4 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -35,6 +35,11 @@ /** * @file mc_att_control_base.h * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> * @author Roman Bapst <bapstr@ethz.ch> * */ @@ -88,11 +93,6 @@ public: void set_actuator_controls(); protected: - - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ - bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - struct vehicle_attitude_s _v_att; /**< vehicle attitude */ struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ 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 d6a58f418..887a53508 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -38,6 +38,9 @@ * @author Tobias Naegeli <naegelit@student.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Roman Bapst <bapstr@ethz.ch> * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. @@ -110,8 +113,10 @@ public: int start(); private: - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + int _v_att_sub; /**< vehicle attitude subscription */ int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ @@ -211,6 +216,9 @@ MulticopterAttitudeControl *g_control; MulticopterAttitudeControl::MulticopterAttitudeControl() : MulticopterAttitudeControlBase(), + _task_should_exit(false), + _control_task(-1), + _actuators_0_circuit_breaker_enabled(false), /* subscriptions */ _v_att_sub(-1), _v_att_sp_sub(-1), |