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FW attitue controller: fix publishing of rate controller status

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-12 15:06:57 +02:00
parent 5a2127d026
commit a9b848cae3
2 changed files with 4 additions and 7 deletions
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msg/rate_ctrl_status.msg
+1 -1
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@@ -4,4 +4,4 @@ uint64 timestamp # time since system start (microseconds)
float32 rollspeed_integ
float32 pitchspeed_integ
float32 yawspeed_integ
float32 additional_integ1 # FW: wheel rate integrator (optional)
float32 wheel_rate_integ # FW only and optional
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+3 -6
View File
@@ -623,16 +623,13 @@ void FixedwingAttitudeControl::Run()
_rates_sp.thrust_body[0] : 0.0f;
}
// publish rate controller status
rate_ctrl_status_s rate_ctrl_status{};
_rate_control.getRateControlStatus(rate_ctrl_status);
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
if (wheel_control) {
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
} else {
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.wheel_rate_integ = _wheel_ctrl.get_integrator();
}
_rate_ctrl_status_pub.publish(rate_ctrl_status);