本文整理汇总了C++中ECL_PitchController::get_desired_bodyrate方法的典型用法代码示例。如果您正苦于以下问题：C++ ECL_PitchController::get_desired_bodyrate方法的具体用法？C++ ECL_PitchController::get_desired_bodyrate怎么用？C++ ECL_PitchController::get_desired_bodyrate使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ECL_PitchController的用法示例。
在下文中一共展示了ECL_PitchController::get_desired_bodyrate方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: q_att
//.........这里部分代码省略.........
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
} else {
// pure rate control
_roll_ctrl.set_bodyrate_setpoint(_manual.y * _parameters.acro_max_x_rate_rad);
_pitch_ctrl.set_bodyrate_setpoint(-_manual.x * _parameters.acro_max_y_rate_rad);
_yaw_ctrl.set_bodyrate_setpoint(_manual.r * _parameters.acro_max_z_rate_rad);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.rollspeed = _att.rollspeed;
rate_ctrl_status.pitchspeed = _att.pitchspeed;
rate_ctrl_status.yawspeed = _att.yawspeed;
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
int instance;
orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;