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FW attitude and position control minor code cleanup (#7802)

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- change a little bit to make the code more readable
This commit is contained in:
CAI Dongcai
2017-08-16 22:51:41 +08:00
committed by Daniel Agar
parent 83643a719a
commit 63306ada92
2 changed files with 9 additions and 23 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+9 -13
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@@ -1004,17 +1004,6 @@ FixedwingAttitudeControl::task_main()
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
}
float roll_sp = _att_sp.roll_body;
float pitch_sp = _att_sp.pitch_body;
float yaw_sp = _att_sp.yaw_body;
float throttle_sp = _att_sp.thrust;
float yaw_manual = 0.0f;
/* allow manual yaw in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
yaw_manual = _manual.r;
}
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
@@ -1041,6 +1030,11 @@ FixedwingAttitudeControl::task_main()
_wheel_ctrl.reset_integrator();
}
float roll_sp = _att_sp.roll_body;
float pitch_sp = _att_sp.pitch_body;
float yaw_sp = _att_sp.yaw_body;
float throttle_sp = _att_sp.thrust;
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _roll;
@@ -1125,8 +1119,10 @@ FixedwingAttitudeControl::task_main()
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
/* add in manual rudder control */
_actuators.control[actuator_controls_s::INDEX_YAW] += yaw_manual;
/* add in manual rudder control in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
_actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r;
}
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
-10
View File
@@ -829,16 +829,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
wp_distance_save = 0.0f;
}
// create virtual waypoint which is on the desired flight path but
// some distance behind landing waypoint. This will make sure that the plane
// will always follow the desired flight path even if we get close or past
// the landing waypoint
double lat{0.0f};
double lon{0.0f};
create_waypoint_from_line_and_dist(pos_sp_curr.lat, pos_sp_curr.lon,
pos_sp_prev.lat, pos_sp_prev.lon, -1000.0f, &lat, &lon);
math::Vector<2> curr_wp_shifted {(float)lat, (float)lon};
// we want the plane to keep tracking the desired flight path until we start flaring
// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds