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Rework landing gear logic

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- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO  as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 3e884116c4
commit 16594bffa9
14 changed files with 54 additions and 55 deletions
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src/modules/vtol_att_control/standard.cpp
-4
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@@ -45,7 +45,6 @@
#include "vtol_att_control_main.h"
#include <float.h>
#include <uORB/topics/landing_gear.h>
using namespace matrix;
@@ -292,7 +291,6 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH];
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW];
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
// FW out = 0, other than roll and pitch depending on elevon lock
fw_out[actuator_controls_s::INDEX_ROLL] = _param_vt_elev_mc_lock.get() ? 0 :
@@ -316,7 +314,6 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
// FW out = FW in, with VTOL transition controlling throttle and airbrakes
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL] * (1.f - _mc_roll_weight);
@@ -334,7 +331,6 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = 0;
mc_out[actuator_controls_s::INDEX_YAW] = 0;
mc_out[actuator_controls_s::INDEX_THROTTLE] = 0;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
// FW out = FW in
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];