control: rename thrust ned to frd

Auterion · Jan 30, 2024 · 70c7ed1 · 70c7ed1
1 parent dd1e285
commit 70c7ed1
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp
@@ -28,7 +28,7 @@ class AttitudeSetpointType : public SetpointBase
 
   void update(
     const Eigen::Quaternionf & attidude_setpoint,
-    const Eigen::Vector3f & thrust_setpoint_ned, float yaw_sp_move_rate_rad_s = 0.F);
+    const Eigen::Vector3f & thrust_setpoint_frd, float yaw_sp_move_rate_rad_s = 0.F);
 
 private:
   rclcpp::Node & _node;

diff --git a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp
@@ -28,7 +28,7 @@ class RatesSetpointType : public SetpointBase
 
   void update(
     const Eigen::Vector3f & rate_setpoints_ned_rad,
-    const Eigen::Vector3f & thrust_setpoint_ned);
+    const Eigen::Vector3f & thrust_setpoint_frd);
 
 private:
   rclcpp::Node & _node;

diff --git a/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp b/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp
@@ -19,7 +19,7 @@ AttitudeSetpointType::AttitudeSetpointType(Context & context)
 
 void AttitudeSetpointType::update(
   const Eigen::Quaternionf & attidude_setpoint,
-  const Eigen::Vector3f & thrust_setpoint_ned,
+  const Eigen::Vector3f & thrust_setpoint_frd,
   float yaw_sp_move_rate_rad_s)
 {
   onUpdate();
@@ -29,9 +29,9 @@ void AttitudeSetpointType::update(
   sp.q_d[1] = attidude_setpoint.x();
   sp.q_d[2] = attidude_setpoint.y();
   sp.q_d[3] = attidude_setpoint.z();
-  sp.thrust_body[0] = thrust_setpoint_ned(0);
-  sp.thrust_body[1] = thrust_setpoint_ned(1);
-  sp.thrust_body[2] = thrust_setpoint_ned(2);
+  sp.thrust_body[0] = thrust_setpoint_frd(0);
+  sp.thrust_body[1] = thrust_setpoint_frd(1);
+  sp.thrust_body[2] = thrust_setpoint_frd(2);
   sp.yaw_sp_move_rate = yaw_sp_move_rate_rad_s;
   sp.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
   _vehicle_attitude_setpoint_pub->publish(sp);

diff --git a/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp b/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp
@@ -19,17 +19,17 @@ RatesSetpointType::RatesSetpointType(Context & context)
 
 void RatesSetpointType::update(
   const Eigen::Vector3f & rate_setpoints_ned_rad,
-  const Eigen::Vector3f & thrust_setpoint_ned)
+  const Eigen::Vector3f & thrust_setpoint_frd)
 {
   onUpdate();
 
   px4_msgs::msg::VehicleRatesSetpoint sp{};
   sp.roll = rate_setpoints_ned_rad(0);
   sp.pitch = rate_setpoints_ned_rad(1);
   sp.yaw = rate_setpoints_ned_rad(2);
-  sp.thrust_body[0] = thrust_setpoint_ned(0);
-  sp.thrust_body[1] = thrust_setpoint_ned(1);
-  sp.thrust_body[2] = thrust_setpoint_ned(2);
+  sp.thrust_body[0] = thrust_setpoint_frd(0);
+  sp.thrust_body[1] = thrust_setpoint_frd(1);
+  sp.thrust_body[2] = thrust_setpoint_frd(2);
   sp.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
   _vehicle_rates_setpoint_pub->publish(sp);
 }