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refactor mc_att_control: move class initializer to member initializer

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This commit is contained in:
Beat Küng
2018-03-19 19:38:24 +01:00
parent d68d9b522b
commit 22e8204de8
2 changed files with 32 additions and 73 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+31 -31
View File
@@ -87,42 +87,42 @@ public:
private:
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _motor_limits_sub; /**< motor limits subscription */
int _battery_status_sub; /**< battery status subscription */
int _v_att_sub{-1}; /**< vehicle attitude subscription */
int _v_att_sp_sub{-1}; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub{-1}; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub{-1}; /**< vehicle control mode subscription */
int _params_sub{-1}; /**< parameter updates subscription */
int _manual_control_sp_sub{-1}; /**< manual control setpoint subscription */
int _vehicle_status_sub{-1}; /**< vehicle status subscription */
int _motor_limits_sub{-1}; /**< motor limits subscription */
int _battery_status_sub{-1}; /**< battery status subscription */
int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
int _sensor_correction_sub; /**< sensor thermal correction subscription */
int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
int _sensor_correction_sub{-1}; /**< sensor thermal correction subscription */
int _sensor_bias_sub{-1}; /**< sensor in-run bias correction subscription */
unsigned _gyro_count;
int _selected_gyro;
unsigned _gyro_count{1};
int _selected_gyro{0};
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
orb_advert_t _controller_status_pub; /**< controller status publication */
orb_advert_t _v_rates_sp_pub{nullptr}; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub{nullptr}; /**< attitude actuator controls publication */
orb_advert_t _controller_status_pub{nullptr}; /**< controller status publication */
orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
orb_id_t _rates_sp_id{nullptr}; /**< pointer to correct rates setpoint uORB metadata structure */
orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator controls */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct battery_status_s _battery_status; /**< battery status */
struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
struct vehicle_attitude_s _v_att {}; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp {}; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp {}; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
struct actuator_controls_s _actuators {}; /**< actuator controls */
struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
struct battery_status_s _battery_status {}; /**< battery status */
struct sensor_gyro_s _sensor_gyro {}; /**< gyro data before thermal correctons and ekf bias estimates are applied */
struct sensor_correction_s _sensor_correction {}; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias {}; /**< sensor in-run bias corrections */
MultirotorMixer::saturation_status _saturation_status{};
@@ -131,7 +131,7 @@ private:
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
float _loop_update_rate_hz{initial_update_rate_hz}; /**< current rate-controller loop update rate in [Hz] */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -42
View File
@@ -97,54 +97,13 @@ To reduce control latency, the module directly polls on the gyro topic published
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sp_sub(-1),
_vehicle_status_sub(-1),
_motor_limits_sub(-1),
_battery_status_sub(-1),
_sensor_correction_sub(-1),
_sensor_bias_sub(-1),
/* gyro selection */
_gyro_count(1),
_selected_gyro(0),
/* publications */
_v_rates_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_controller_status_pub(nullptr),
_rates_sp_id(nullptr),
_actuators_id(nullptr),
_actuators_0_circuit_breaker_enabled(false),
_v_att{},
_v_att_sp{},
_v_rates_sp{},
_manual_control_sp{},
_v_control_mode{},
_actuators{},
_vehicle_status{},
_battery_status{},
_sensor_gyro{},
_sensor_correction{},
_sensor_bias{},
_saturation_status{},
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_lp_filters_d{
{initial_update_rate_hz, 50.f},
{initial_update_rate_hz, 50.f},
{initial_update_rate_hz, 50.f}}, // will be initialized correctly when params are loaded
_loop_update_rate_hz(initial_update_rate_hz)
{initial_update_rate_hz, 50.f}} // will be initialized correctly when params are loaded
{
for (uint8_t i = 0; i < MAX_GYRO_COUNT; i++) {
_sensor_gyro_sub[i] = -1;