打印_battery_status.scale

来源：互联网发布：linux cpu 超过100 编辑：程序博客网时间：2024/06/05 03:12

在px4的姿态控制中，publish控制量时代码乘以了一个_battery_status.scale，

                                        /* scale effort by battery status */if (_params.bat_scale_en && _battery_status.scale > 0.0f) {for (int i = 0; i < 4; i++) {_actuators.control[i] *= _battery_status.scale;}}

不知道代表什么意思，于是想办法把它打印出来，借用洛神提供的ubantu14.04编译环境，地址（https://github.com/luoshi006/luoshi006_communication/blob/master/CSDN_blog/PX4/PX4%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%EF%BC%88Ubuntu%201404%EF%BC%89.md），这个编译环境提供了很多有用的工具。这里采用px4提供的px4_simple_app打印，编译上传到飞控后，将飞控和地面站qgc连接；将电池经降压模块降压后连接到飞控，通过地面站的nsh运行px4_simple_app输出结果输出结果

代码：

__EXPORT int px4_simple_app_main(int argc, char *argv[]);int px4_simple_app_main(int argc, char *argv[]){PX4_INFO("Hello Sky!");        int _actuators_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));        int _battery_status_sub = orb_subscribe(ORB_ID(battery_status));    struct battery_status_s_battery_status;        struct actuator_controls_s_actuators01;        orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);        orb_copy(ORB_ID(actuator_controls_0), _actuators_0_sub, &_actuators01);        bool updated;orb_check(_battery_status_sub, &updated); if (updated) {               orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);           }     orb_check(_actuators_0_sub, &updated); if (updated) {               orb_copy(ORB_ID(actuator_controls_0), _actuators_0_sub, &_actuators01);           }        static int error_counter = 1;        int counter =1;        while (counter < 2)             {                     if (error_counter == 1)                         {   error_counter ++;                         }                   else if (error_counter <= 500)                         {   error_counter ++;                         }                      else                          {   error_counter = 1;                                    counter++;                         PX4_INFO("_actuators01.control:\t%8.4f\t%8.4f\t%8.4f\t%8.4f\n",             (double)_actuators01.control[0],             (double)_actuators01.control[1],             (double)_actuators01.control[2],                                 (double)_actuators01.control[3]);                         PX4_INFO("_battery_status.scale:\t%8.4f\t%8.4f\n",                            (double)_battery_status.scale ,                                                            (double)_battery_status.voltage_filtered_v);                                                                          for (int i = 0; i < 4; i++){                         PX4_INFO("_actuators01.control/_battery_status.scale:\t%8.4f\n",                                                              (double)_actuators01.control[i]/(double)_battery_status.scale                                          );                            }                      }                             }PX4_INFO("exiting");return 0;}

截取的结果：

12.6V

INFO [px4_simple_app] _actuators01.control: -0.0273 -0.0129 -1.0473 0.0000