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MulticopterRateControl: refactor torque setpoint naming

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This commit is contained in:
Matthias Grob
2024-11-12 14:45:29 +01:00
committed by Daniel Agar
parent a2156244d3
commit 990811098b
1 changed files with 5 additions and 4 deletions
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9
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@@ -214,7 +214,8 @@ MulticopterRateControl::Run()
}
// run rate controller
const Vector3f att_control = _rate_control.update(rates, _rates_setpoint, angular_accel, dt, _maybe_landed || _landed);
const Vector3f torque_setpoint =
_rate_control.update(rates, _rates_setpoint, angular_accel, dt, _maybe_landed || _landed);
// publish rate controller status
rate_ctrl_status_s rate_ctrl_status{};
@@ -227,9 +228,9 @@ MulticopterRateControl::Run()
vehicle_torque_setpoint_s vehicle_torque_setpoint{};
_thrust_setpoint.copyTo(vehicle_thrust_setpoint.xyz);
vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(att_control(0)) ? att_control(0) : 0.f;
vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(att_control(1)) ? att_control(1) : 0.f;
vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(att_control(2)) ? att_control(2) : 0.f;
vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(torque_setpoint(0)) ? torque_setpoint(0) : 0.f;
vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(torque_setpoint(1)) ? torque_setpoint(1) : 0.f;
vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(torque_setpoint(2)) ? torque_setpoint(2) : 0.f;
// scale setpoints by battery status if enabled
if (_param_mc_bat_scale_en.get()) {