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set proper getting average of base_q

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Sem van der Hoeven
2023-05-04 14:43:39 +02:00
parent e9e6e033d1
commit 3baad7c7bd
1 changed files with 20 additions and 12 deletions
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28
src/px4_connection/src/px4_controller.cpp
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@@ -44,7 +44,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
vehicle_attitude_subscription_ = this->create_subscription<px4_msgs::msg::VehicleAttitude>("/fmu/out/vehicle_attitude", qos, std::bind(&PX4Controller::on_attitude_receive, this,std::placeholders::_1));
vehicle_attitude_subscription_ = this->create_subscription<px4_msgs::msg::VehicleAttitude>("/fmu/out/vehicle_attitude", qos, std::bind(&PX4Controller::on_attitude_receive, this, std::placeholders::_1));
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("drone/set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
@@ -101,7 +101,9 @@ private:
last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll);
last_thrust = request->thrust;
} else {
}
else
{
last_setpoint[0] += degrees_to_radians(request->yaw);
last_setpoint[1] += degrees_to_radians(request->pitch);
last_setpoint[2] += degrees_to_radians(request->roll);
@@ -116,7 +118,8 @@ private:
RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
response->status = 0;
} else
}
else
{
last_thrust = 0;
last_setpoint[0] = 0;
@@ -194,7 +197,6 @@ private:
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -last_thrust;
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
// RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
// }
@@ -209,7 +211,7 @@ private:
// }
// set quaternion
msg.q_d[0] = base_q[0] + q.at(0);
msg.q_d[0] = q.at(0);
msg.q_d[1] = base_q[1] + q.at(1);
msg.q_d[2] = base_q[2] + q.at(2);
msg.q_d[3] = base_q[3] + q.at(3);
@@ -253,13 +255,19 @@ private:
void on_attitude_receive(const px4_msgs::msg::VehicleAttitude::SharedPtr msg)
{
if (!ready_to_fly)
if (!armed)
{
if (base_q_amount > 2)
{
base_q[1] = (base_q[1] + msg->q[1]) / 2;
base_q[2] = (base_q[2] + msg->q[2]) / 2;
base_q[3] = (base_q[3] + msg->q[3]) / 2;
} else {
base_q[1] = msg->q[1];
base_q[2] = msg->q[2];
base_q[3] = msg->q[3];
base_q_amount++;
base_q[0] = (base_q[0] + msg->q[0])/base_q_amount;
base_q[1] = (base_q[1] + msg->q[1])/base_q_amount;
base_q[2] = (base_q[2] + msg->q[2])/base_q_amount;
base_q[3] = (base_q[3] + msg->q[3])/base_q_amount;
}
RCLCPP_INFO(this->get_logger(), "base_q: %f %f %f %f", base_q[0], base_q[1], base_q[2], base_q[3]);
}