diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 29 |
1 files changed, 17 insertions, 12 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 4cb6c1aef..00c2080a0 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -59,7 +59,11 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_virtual_fw.h> +#include <uORB/topics/actuator_controls_virtual_mc.h> #include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/fw_virtual_rates_setpoint.h> +#include <uORB/topics/mc_virtual_rates_setpoint.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> @@ -76,6 +80,7 @@ #include <ecl/attitude_fw/ecl_pitch_controller.h> #include <ecl/attitude_fw/ecl_roll_controller.h> #include <ecl/attitude_fw/ecl_yaw_controller.h> +#include <platforms/px4_defines.h> /** * Fixedwing attitude control app start / stop handling function @@ -742,15 +747,15 @@ FixedwingAttitudeControl::task_main() _att.roll = euler_angles(0); _att.pitch = euler_angles(1); _att.yaw = euler_angles(2); - _att.R[0][0] = R_adapted(0, 0); - _att.R[0][1] = R_adapted(0, 1); - _att.R[0][2] = R_adapted(0, 2); - _att.R[1][0] = R_adapted(1, 0); - _att.R[1][1] = R_adapted(1, 1); - _att.R[1][2] = R_adapted(1, 2); - _att.R[2][0] = R_adapted(2, 0); - _att.R[2][1] = R_adapted(2, 1); - _att.R[2][2] = R_adapted(2, 2); + PX4_R(_att.R, 0, 0) = R_adapted(0, 0); + PX4_R(_att.R, 0, 1) = R_adapted(0, 1); + PX4_R(_att.R, 0, 2) = R_adapted(0, 2); + PX4_R(_att.R, 1, 0) = R_adapted(1, 0); + PX4_R(_att.R, 1, 1) = R_adapted(1, 1); + PX4_R(_att.R, 1, 2) = R_adapted(1, 2); + PX4_R(_att.R, 2, 0) = R_adapted(2, 0); + PX4_R(_att.R, 2, 1) = R_adapted(2, 1); + PX4_R(_att.R, 2, 2) = R_adapted(2, 2); /* lastly, roll- and yawspeed have to be swaped */ float helper = _att.rollspeed; @@ -924,9 +929,9 @@ FixedwingAttitudeControl::task_main() float speed_body_v = 0.0f; float speed_body_w = 0.0f; if(_att.R_valid) { - speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d; - speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d; - speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d; + speed_body_u = PX4_R(_att.R, 0, 0) * _global_pos.vel_n + PX4_R(_att.R, 1, 0) * _global_pos.vel_e + PX4_R(_att.R, 2, 0) * _global_pos.vel_d; + speed_body_v = PX4_R(_att.R, 0, 1) * _global_pos.vel_n + PX4_R(_att.R, 1, 1) * _global_pos.vel_e + PX4_R(_att.R, 2, 1) * _global_pos.vel_d; + speed_body_w = PX4_R(_att.R, 0, 2) * _global_pos.vel_n + PX4_R(_att.R, 1, 2) * _global_pos.vel_e + PX4_R(_att.R, 2, 2) * _global_pos.vel_d; } else { if (_debug && loop_counter % 10 == 0) { warnx("Did not get a valid R\n"); |