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VTOL: explicitly start all FW & MC controllers in VTOL mode

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This commit is contained in:
Daniel Agar
2019-11-30 12:58:36 -05:00
committed by GitHub
parent e50a50876f
commit 0cc250194d
12 changed files with 149 additions and 240 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+4 -7
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@@ -129,7 +129,7 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
public px4::WorkItem
{
public:
FixedwingPositionControl();
FixedwingPositionControl(bool vtol = false);
~FixedwingPositionControl() override;
/** @see ModuleBase */
@@ -165,9 +165,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription
uORB::SubscriptionData<vehicle_angular_velocity_s> _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint
orb_id_t _attitude_setpoint_id{nullptr};
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication
@@ -253,6 +251,8 @@ private:
float _asp_after_transition{0.0f};
bool _was_in_transition{false};
bool _vtol_tailsitter{false};
// estimator reset counters
uint8_t _pos_reset_counter{0}; ///< captures the number of times the estimator has reset the horizontal position
uint8_t _alt_reset_counter{0}; ///< captures the number of times the estimator has reset the altitude state
@@ -307,7 +307,6 @@ private:
// VTOL
float airspeed_trans;
int32_t vtol_type;
} _parameters{}; ///< local copies of interesting parameters
struct {
@@ -370,8 +369,6 @@ private:
param_t land_airspeed_scale;
param_t land_throtTC_scale;
param_t loiter_radius;
param_t vtol_type;
} _parameter_handles {}; ///< handles for interesting parameters
DEFINE_PARAMETERS(