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Figure_of_eight: Make configuration dependent on defined mavlink_message_id.

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Konrad
2023-10-31 15:57:59 -04:00
committed by Daniel Agar
parent e3473a0f90
commit 1089079a32
5 changed files with 51 additions and 60 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.hpp
+20 -27
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@@ -94,13 +94,11 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind.h>
#include <uORB/topics/orbit_status.h>
#ifdef CONFIG_FIGURE_OF_EIGHT
#include <uORB/topics/figure_eight_status.h>
#endif // CONFIG_FIGURE_OF_EIGHT
#include <uORB/uORB.h>
#ifdef CONFIG_FIGURE_OF_EIGHT
#include "figure_eight/FigureEight.hpp"
#include <uORB/topics/figure_eight_status.h>
#endif // CONFIG_FIGURE_OF_EIGHT
using namespace launchdetection;
@@ -220,9 +218,6 @@ private:
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)};
uORB::Publication<launch_detection_status_s> _launch_detection_status_pub{ORB_ID(launch_detection_status)};
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
#ifdef CONFIG_FIGURE_OF_EIGHT
uORB::Publication<figure_eight_status_s> _figure_eight_status_pub {ORB_ID(figure_eight_status)};
#endif // CONFIG_FIGURE_OF_EIGHT
uORB::Publication<landing_gear_s> _landing_gear_pub {ORB_ID(landing_gear)};
uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
@@ -281,11 +276,6 @@ private:
bool _landed{true};
#ifdef CONFIG_FIGURE_OF_EIGHT
/* Loitering */
FigureEight _figure_eight;
#endif // CONFIG_FIGURE_OF_EIGHT
// indicates whether the plane was in the air in the previous interation
bool _was_in_air{false};
@@ -444,6 +434,25 @@ private:
float _min_current_sp_distance_xy{FLT_MAX};
float _target_bearing{0.0f}; // [rad]
#ifdef CONFIG_FIGURE_OF_EIGHT
/* Loitering */
FigureEight _figure_eight;
uORB::Publication<figure_eight_status_s> _figure_eight_status_pub {ORB_ID(figure_eight_status)};
/**
* Vehicle control for the autonomous figure 8 mode.
*
* @param control_interval Time since last position control call [s]
* @param curr_pos the current 2D absolute position of the vehicle in [deg].
* @param ground_speed the 2D ground speed of the vehicle in [m/s].
* @param pos_sp_prev the previous position setpoint.
* @param pos_sp_curr the current position setpoint.
*/
void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void publishFigureEightStatus(const position_setpoint_s pos_sp);
#endif // CONFIG_FIGURE_OF_EIGHT
// Update our local parameter cache.
int parameters_update();
@@ -599,19 +608,6 @@ private:
void control_auto_loiter(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
#ifdef CONFIG_FIGURE_OF_EIGHT
/**
* Vehicle control for the autonomous figure 8 mode.
*
* @param control_interval Time since last position control call [s]
* @param curr_pos the current 2D absolute position of the vehicle in [deg].
* @param ground_speed the 2D ground speed of the vehicle in [m/s].
* @param pos_sp_prev the previous position setpoint.
* @param pos_sp_curr the current position setpoint.
*/
void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
#endif // CONFIG_FIGURE_OF_EIGHT
/**
* @brief Controls a desired airspeed, bearing, and height rate.
@@ -729,9 +725,6 @@ private:
float airspeed_sp);
void publishOrbitStatus(const position_setpoint_s pos_sp);
#ifdef CONFIG_FIGURE_OF_EIGHT
void publishFigureEightStatus(const position_setpoint_s pos_sp);
#endif // CONFIG_FIGURE_OF_EIGHT
SlewRate<float> _airspeed_slew_rate_controller;