diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 17 |
1 files changed, 5 insertions, 12 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e8dcbacc7..8cd97d7c1 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -55,7 +55,7 @@ #include <systemlib/err.h> #include <drivers/drv_hrt.h> #include <uORB/uORB.h> -#include <uORB/topics/vehicle_control_debug.h> + PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ @@ -151,7 +151,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], struct actuator_controls_s *actuators, + const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -178,10 +179,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static bool initialized = false; - static struct vehicle_control_debug_s control_debug; - static orb_advert_t control_debug_pub; - - /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { @@ -194,7 +191,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); - control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); } /* load new parameters with lower rate */ @@ -207,11 +203,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT, &control_debug.pitch_rate_p, &control_debug.pitch_rate_i, &control_debug.pitch_rate_d); + rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT, &control_debug.roll_rate_p, &control_debug.roll_rate_i, &control_debug.roll_rate_d); + rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { @@ -246,7 +242,4 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[3] = rate_sp->thrust; motor_skip_counter++; - - orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); - printf("Published control debug\n"); } |