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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-01 14:03:42 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-01 14:03:42 +0400 |
commit | 6827e45aee2f1a6e756c56a91b46152eb2ea5d08 (patch) | |
tree | 74f7717c7ad3d6c97801e9118a1c3f43e9e753fa /src/modules/mc_pos_control | |
parent | 8c1c7bca18e6d4c996852ef042a50ee34af6cc33 (diff) | |
download | px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.tar.gz px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.tar.bz2 px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.zip |
mc_pos_control, mc_att_control_vector: code style fixed
Diffstat (limited to 'src/modules/mc_pos_control')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 28 |
1 files changed, 25 insertions, 3 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 3c05cec07..a416228db 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -322,6 +322,7 @@ MulticopterPositionControl::parameters_update(bool force) struct parameter_update_s param_upd; orb_check(_params_sub, &updated); + if (updated) orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_upd); @@ -380,26 +381,32 @@ MulticopterPositionControl::poll_subscriptions() bool updated; orb_check(_att_sub, &updated); + if (updated) orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); orb_check(_att_sp_sub, &updated); + if (updated) orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp); orb_check(_control_mode_sub, &updated); + if (updated) orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); orb_check(_manual_sub, &updated); + if (updated) orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual); orb_check(_arming_sub, &updated); + if (updated) orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming); orb_check(_mission_items_sub, &updated); + if (updated) orb_copy(ORB_ID(mission_item_triplet), _mission_items_sub, &_mission_items); } @@ -516,12 +523,13 @@ MulticopterPositionControl::task_main() reset_int_z = true; reset_int_xy = true; } + was_armed = _control_mode.flag_armed; if (_control_mode.flag_control_altitude_enabled || - _control_mode.flag_control_position_enabled || - _control_mode.flag_control_climb_rate_enabled || - _control_mode.flag_control_velocity_enabled) { + _control_mode.flag_control_position_enabled || + _control_mode.flag_control_climb_rate_enabled || + _control_mode.flag_control_velocity_enabled) { _pos(0) = _local_pos.x; _pos(1) = _local_pos.y; @@ -548,6 +556,7 @@ MulticopterPositionControl::task_main() _pos_sp(1) += ref_change_y; _pos_sp(2) += _local_pos.ref_alt - ref_alt; } + ref_timestamp = _local_pos.ref_timestamp; ref_lat = _local_pos.ref_lat; ref_lon = _local_pos.ref_lon; @@ -584,6 +593,7 @@ MulticopterPositionControl::task_main() /* limit setpoint move rate */ float sp_move_norm = sp_move_rate.length(); + if (sp_move_norm > 1.0f) { sp_move_rate /= sp_move_norm; } @@ -599,12 +609,14 @@ MulticopterPositionControl::task_main() /* check if position setpoint is too far from actual position */ math::Vector<3> pos_sp_offs = (_pos_sp - _pos).edivide(_params.vel_max); float pos_sp_offs_norm = pos_sp_offs.length(); + if (pos_sp_offs_norm > 1.0f) { pos_sp_offs /= pos_sp_offs_norm; _pos_sp = _pos + pos_sp_offs.emult(_params.vel_max); } reset_takeoff_sp = true; + } else { /* AUTO */ if (_mission_items.current_valid) { @@ -621,6 +633,7 @@ MulticopterPositionControl::task_main() /* add gap for takeoff setpoint */ _pos_sp(2) -= 0.5f * _params.vel_max(2) / _params.pos_p(2); reset_sp_z = true; + } else { map_projection_project(item.lat, item.lon, &_pos_sp(0), &_pos_sp(1)); @@ -633,6 +646,7 @@ MulticopterPositionControl::task_main() reset_sp_xy = true; reset_sp_z = true; } + } else { /* no waypoint, loiter, reset position setpoint if needed */ if (reset_sp_xy) { @@ -640,6 +654,7 @@ MulticopterPositionControl::task_main() _pos_sp(0) = _pos(0); _pos_sp(1) = _pos(1); } + if (reset_sp_z) { reset_sp_z = false; _pos_sp(2) = _pos(2); @@ -723,6 +738,7 @@ MulticopterPositionControl::task_main() thrust_int(2) = -i; mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); } + } else { reset_int_z = true; } @@ -734,6 +750,7 @@ MulticopterPositionControl::task_main() thrust_int(1) = 0.0f; mavlink_log_info(mavlink_fd, "[mpc] reset xy vel integral"); } + } else { reset_int_xy = true; } @@ -752,6 +769,7 @@ MulticopterPositionControl::task_main() thrust_sp(0) = 0.0f; thrust_sp(1) = 0.0f; } + if (!_control_mode.flag_control_climb_rate_enabled) { thrust_sp(2) = 0.0f; } @@ -762,6 +780,7 @@ MulticopterPositionControl::task_main() /* limit min lift */ float thr_min = _params.thr_min; + if (!_control_mode.flag_control_velocity_enabled && thr_min < 0.0f) { /* don't allow downside thrust direction in manual attitude mode */ thr_min = 0.0f; @@ -856,7 +875,9 @@ MulticopterPositionControl::task_main() if (body_z(2) < 0.0f) { body_x = -body_x; } + body_x.normalize(); + } else { /* desired thrust is in XY plane, set X downside to construct correct matrix, * but yaw component will not be used actually */ @@ -913,6 +934,7 @@ MulticopterPositionControl::task_main() } else { reset_int_z = true; } + } else { /* position controller disabled, reset setpoints */ reset_sp_z = true; |