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Refactor: Name manual_control_setpoint the same way everywhere

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This commit is contained in:
Matthias Grob
2020-06-22 15:06:47 +02:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
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src/examples/fixedwing_control/main.cpp
+10 -10
View File
@@ -284,8 +284,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct manual_control_setpoint_s manual_control_setpoint;
memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct position_setpoint_s global_sp;
@@ -311,7 +311,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
@@ -367,8 +367,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_sp_sub, &global_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
bool manual_control_setpoint_updated;
orb_check(manual_control_setpoint_sub, &manual_control_setpoint_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -379,16 +379,16 @@ int fixedwing_control_thread_main(int argc, char *argv[])
memcpy(&global_sp, &triplet.current, sizeof(global_sp));
}
if (manual_sp_updated)
if (manual_control_setpoint_updated)
/* get the RC (or otherwise user based) input */
{
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual_control_setpoint);
}
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (PX4_ISFINITE(manual_sp.z) &&
(manual_sp.z >= 0.6f) &&
(manual_sp.z <= 1.0f)) {
if (PX4_ISFINITE(manual_control_setpoint.z) &&
(manual_control_setpoint.z >= 0.6f) &&
(manual_control_setpoint.z <= 1.0f)) {
}
/* get the system status and the flight mode we're in */
src/examples/rover_steering_control/main.cpp
+7 -7
View File
@@ -235,8 +235,8 @@ int rover_steering_control_thread_main(int argc, char *argv[])
memset(&att_sp, 0, sizeof(att_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct manual_control_setpoint_s manual_control_setpoint;
memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct position_setpoint_s global_sp;
@@ -265,7 +265,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -325,8 +325,8 @@ int rover_steering_control_thread_main(int argc, char *argv[])
orb_check(global_pos_sub, &pos_updated);
bool att_sp_updated;
orb_check(att_sp_sub, &att_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
bool manual_control_setpoint_updated;
orb_check(manual_control_setpoint_sub, &manual_control_setpoint_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -338,10 +338,10 @@ int rover_steering_control_thread_main(int argc, char *argv[])
/* control attitude / heading */
control_attitude(&_att_sp, &att, &actuators);
if (manual_sp_updated)
if (manual_control_setpoint_updated)
/* get the RC (or otherwise user based) input */
{
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual_control_setpoint);
}
// XXX copy from manual depending on flight / usage mode to override