From 990811098b889e0410d99d36994ddcfe59c85bd0 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 12 Nov 2024 14:45:29 +0100 Subject: [PATCH] MulticopterRateControl: refactor torque setpoint naming --- src/modules/mc_rate_control/MulticopterRateControl.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index e8a371d1e2..fea041022e 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -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()) {