本文整理汇总了C++中ECL_YawController类的典型用法代码示例。如果您正苦于以下问题：C++ ECL_YawController类的具体用法？C++ ECL_YawController怎么用？C++ ECL_YawController使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了ECL_YawController类的6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
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
battery_status_poll();
_sub_airspeed.update();
/* wakeup source */
px4_pollfd_struct_t fds[1];
/* Setup of loop */
fds[0].fd = _att_sub;
fds[0].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
bool params_updated = false;
orb_check(_params_sub, ¶ms_updated);
if (params_updated) {
/* read from param to clear updated flag */
parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_att.q[0], _att.q[1], _att.q[2], _att.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
if (_vehicle_status.is_vtol && _parameters.vtol_type == vtol_type::TAILSITTER) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
//.........这里部分代码省略.........
示例2:
int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));
int32_t wheel_enabled = 0;
param_get(_parameter_handles.w_en, &wheel_enabled);
_parameters.w_en = (wheel_enabled == 1);
param_get(_parameter_handles.w_p, &(_parameters.w_p));
param_get(_parameter_handles.w_i, &(_parameters.w_i));
param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.acro_max_x_rate, &(_parameters.acro_max_x_rate_rad));
param_get(_parameter_handles.acro_max_y_rate, &(_parameters.acro_max_y_rate_rad));
param_get(_parameter_handles.acro_max_z_rate, &(_parameters.acro_max_z_rate_rad));
_parameters.acro_max_x_rate_rad = math::radians(_parameters.acro_max_x_rate_rad);
_parameters.acro_max_y_rate_rad = math::radians(_parameters.acro_max_y_rate_rad);
_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
if (_vehicle_status.is_vtol) {
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
}
param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.p_tc);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.r_tc);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
/* wheel control parameters */
_wheel_ctrl.set_k_p(_parameters.w_p);
//.........这里部分代码省略.........
示例3: warnx
void
FixedwingAttitudeControl::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
orb_set_interval(_att_sub, 17);
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
global_pos_poll();
/* lock integrator until control is started */
//.........这里部分代码省略.........
示例4:
int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
_pitch_ctrl.set_roll_ff(_parameters.p_roll_feedforward);
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.tconst);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
return OK;
}示例5:
int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.w_p, &(_parameters.w_p));
param_get(_parameter_handles.w_i, &(_parameters.w_i));
param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.trim_steer, &(_parameters.trim_steer));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.p_tc);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.r_tc);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
/* wheel control parameters */
_wheel_ctrl.set_k_p(_parameters.w_p);
_wheel_ctrl.set_k_i(_parameters.w_i);
_wheel_ctrl.set_k_ff(_parameters.w_ff);
_wheel_ctrl.set_integrator_max(_parameters.w_integrator_max);
_wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax));
return PX4_OK;
}示例6: poll
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* do not limit the attitude updates in order to minimize latency.
* actuator outputs are still limited by the individual drivers
* properly to not saturate IO or physical limitations */
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
//.........这里部分代码省略.........