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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-08 10:37:01 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-08 10:37:01 +0100 |
| commit | 87df7c3243412d4fc7a0c40967b2abe078f7a0b2 (patch) | |
| tree | 63e442c07a3e709ab76f456f366f437c0552d700 /src/modules/mc_pos_control | |
| parent | 65629d09d5e2424c6fcaf261c95f6d6995c4afd7 (diff) | |
| download | px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.tar.gz px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.tar.bz2 px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.zip | |
move vehicle_attitude_setpoint to msg format
Diffstat (limited to 'src/modules/mc_pos_control')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 22 |
1 files changed, 11 insertions, 11 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 cea847603..4ea5fdfb6 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -43,8 +43,9 @@ * @author Anton Babushkin <anton.babushkin@me.com> */ -#include <nuttx/config.h> -#include <stdio.h> +#include <px4.h> +#include <functional> +#include <cstdio> #include <stdlib.h> #include <string.h> #include <unistd.h> @@ -54,8 +55,7 @@ #include <poll.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> + #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> @@ -67,8 +67,8 @@ #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/vehicle_local_position_setpoint.h> -#include <systemlib/param/param.h> -#include <systemlib/err.h> +// #include <systemlib/param/param.h> +// #include <systemlib/err.h> #include <systemlib/systemlib.h> #include <mathlib/mathlib.h> #include <lib/geo/geo.h> @@ -532,9 +532,9 @@ MulticopterPositionControl::reset_pos_sp() if (_reset_pos_sp) { _reset_pos_sp = false; /* shift position setpoint to make attitude setpoint continuous */ - _pos_sp(0) = _pos(0) + (_vel(0) - _att_sp.R_body[0][2] * _att_sp.thrust / _params.vel_p(0) + _pos_sp(0) = _pos(0) + (_vel(0) - PX4_R(_att_sp.R_body, 0, 2) * _att_sp.thrust / _params.vel_p(0) - _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0); - _pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1) + _pos_sp(1) = _pos(1) + (_vel(1) - PX4_R(_att_sp.R_body, 1, 2) * _att_sp.thrust / _params.vel_p(1) - _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1); mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1)); } @@ -987,7 +987,7 @@ MulticopterPositionControl::task_main() if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ R.identity(); - memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + memcpy(&_att_sp.R_body[0], R.data, sizeof(_att_sp.R_body)); _att_sp.R_valid = true; _att_sp.roll_body = 0.0f; @@ -1260,7 +1260,7 @@ MulticopterPositionControl::task_main() } /* copy rotation matrix to attitude setpoint topic */ - memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + memcpy(&_att_sp.R_body[0], R.data, sizeof(_att_sp.R_body)); _att_sp.R_valid = true; /* calculate euler angles, for logging only, must not be used for control */ @@ -1275,7 +1275,7 @@ MulticopterPositionControl::task_main() R.from_euler(0.0f, 0.0f, _att_sp.yaw_body); /* copy rotation matrix to attitude setpoint topic */ - memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + memcpy(&_att_sp.R_body[0], R.data, sizeof(_att_sp.R_body)); _att_sp.R_valid = true; _att_sp.roll_body = 0.0f; |