diff options
-rw-r--r-- | src/modules/controllib/block/UOrbPublication.hpp | 12 | ||||
-rw-r--r-- | src/modules/controllib/fixedwing.cpp | 10 | ||||
-rw-r--r-- | src/modules/controllib/fixedwing.hpp | 6 |
3 files changed, 14 insertions, 14 deletions
diff --git a/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp index a36f4429f..0a8ae2ff7 100644 --- a/src/modules/controllib/block/UOrbPublication.hpp +++ b/src/modules/controllib/block/UOrbPublication.hpp @@ -60,11 +60,15 @@ public: List<UOrbPublicationBase *> * list, const struct orb_metadata *meta) : _meta(meta), - _handle() { + _handle(-1) { if (list != NULL) list->add(this); } void update() { - orb_publish(getMeta(), getHandle(), getDataVoidPtr()); + if (_handle > 0) { + orb_publish(getMeta(), getHandle(), getDataVoidPtr()); + } else { + setHandle(orb_advertise(getMeta(), getDataVoidPtr())); + } } virtual void *getDataVoidPtr() = 0; virtual ~UOrbPublicationBase() { @@ -99,10 +103,6 @@ public: const struct orb_metadata *meta) : T(), // initialize data structure to zero UOrbPublicationBase(list, meta) { - // It is important that we call T() - // before we publish the data, so we - // call this here instead of the base class - setHandle(orb_advertise(getMeta(), getDataVoidPtr())); } virtual ~UOrbPublication() {} /* diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp index 7be38015c..77b2ac806 100644 --- a/src/modules/controllib/fixedwing.cpp +++ b/src/modules/controllib/fixedwing.cpp @@ -130,7 +130,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), - _posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20), + _posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20), _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz @@ -213,7 +213,7 @@ void BlockMultiModeBacksideAutopilot::update() // only update guidance in auto mode if (_status.state_machine == SYSTEM_STATE_AUTO) { // update guidance - _guide.update(_pos, _att, _posCmd, _lastPosCmd); + _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); } // XXX handle STABILIZED (loiter on spot) as well @@ -225,7 +225,7 @@ void BlockMultiModeBacksideAutopilot::update() _status.state_machine == SYSTEM_STATE_STABILIZED) { // update guidance - _guide.update(_pos, _att, _posCmd, _lastPosCmd); + _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between @@ -239,7 +239,7 @@ void BlockMultiModeBacksideAutopilot::update() float vCmd = _vLimit.update(_vCmd.get()); // altitude hold - float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt); + float dThrottle = _h2Thr.update(_posCmd.current.altitude - _pos.alt); // heading hold float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); @@ -328,7 +328,7 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - // currenlty using manual throttle + // currently using manual throttle // XXX if you enable this watch out, vz might be very noisy //_actuators.control[CH_THR] = dThrottle + _trimThr.get(); _actuators.control[CH_THR] = _manual.throttle; diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp index 53d0cf893..e4028c40d 100644 --- a/src/modules/controllib/fixedwing.hpp +++ b/src/modules/controllib/fixedwing.hpp @@ -43,7 +43,7 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/vehicle_global_position_set_triplet.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> @@ -280,7 +280,7 @@ protected: UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; UOrbSubscription<vehicle_global_position_s> _pos; - UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd; + UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd; UOrbSubscription<manual_control_setpoint_s> _manual; UOrbSubscription<vehicle_status_s> _status; UOrbSubscription<parameter_update_s> _param_update; @@ -328,7 +328,7 @@ private: BlockParam<float> _crMax; struct pollfd _attPoll; - vehicle_global_position_setpoint_s _lastPosCmd; + vehicle_global_position_set_triplet_s _lastPosCmd; enum {CH_AIL, CH_ELV, CH_RDR, CH_THR}; uint64_t _timeStamp; public: |