fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 02:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw pos ctrl: rework landing abort status

Browse Source 
abort boolean and reasons no longer separated, single status field with corresponding abort triggers
This commit is contained in:
Thomas Stastny
2022-07-19 22:37:09 -04:00
committed by Daniel Agar
parent 694d36050a
commit 121cc1fce8
5 changed files with 76 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+14 -7
View File
@@ -338,7 +338,7 @@ private:
// [m] relative height above land point
float _landing_approach_entrance_rel_alt{0.0f};
bool _land_abort{false};
uint8_t _landing_abort_status{position_controller_landing_status_s::kNotAborted};
bool _flaring{false};
hrt_abstime _time_started_flaring{0}; // [us]
@@ -421,18 +421,25 @@ private:
void wind_poll();
void status_publish();
void landing_status_publish(const uint8_t abort_reason = position_controller_landing_status_s::kAbortReasonNone);
void landing_status_publish();
void tecs_status_publish();
void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint);
/**
* @brief Sets the aborted landing state and publishes landing status.
* @brief Sets the landing abort status and publishes landing status.
*
* @param abort If true, the aircraft should abort the landing
* @param abort_reason Singular bit which triggered the abort
* @param new_abort_status Either 0 (not aborted) or the singular bit >0 which triggered the abort
*/
void abort_landing(const bool abort,
const uint8_t abort_reason = position_controller_landing_status_s::kAbortReasonNone);
void updateLandingAbortStatus(const uint8_t new_abort_status = position_controller_landing_status_s::kNotAborted);
/**
* @brief Checks if the automatic abort bitmask (from FW_LND_ABORT) contains the given abort criterion.
*
* @param automatic_abort_criteria_bitmask Bitmask containing all active abort criteria
* @param landing_abort_criterion The specifc criterion we are checking for
* @return true if the bitmask contains the criterion
*/
bool checkLandingAbortBitMask(const uint8_t automatic_abort_criteria_bitmask, uint8_t landing_abort_criterion);
/**
* @brief Get a new waypoint based on heading and distance from current position