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added publish to actuators when _v_control_mode.flag_external_manual_override_ok flag is set

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This commit is contained in:
Diogo Machado
2014-02-26 11:26:15 +00:00
parent 92e15b83cc
commit 1acd951173
1 changed files with 51 additions and 32 deletions
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src/examples/jetdrive_control/jetdrive_control_main.cpp
+51 -32
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@@ -558,38 +558,13 @@ JetdriveControl::task_main()
arming_status_poll();
vehicle_manual_poll();
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled */
// TODO poll 'attitude_rates_setpoint' topic
_rates_sp.zero();
_thrust_sp = 0.0f;
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
if(_v_control_mode.flag_external_manual_override_ok)
{
/* manual/direct control */
_actuators.control[0] = _manual_control_sp .roll;
_actuators.control[1] = _manual_control_sp.pitch;
_actuators.control[2] = _manual_control_sp.yaw;
_actuators.control[3] = _manual_control_sp.throttle;
_actuators.timestamp = hrt_absolute_time();
if (_actuators_0_pub > 0) {
@@ -598,6 +573,50 @@ JetdriveControl::task_main()
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
} else {
// FIX this: This is the atitude control logic for mc's
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
} else {
/* attitude controller disabled */
// TODO poll 'attitude_rates_setpoint' topic
_rates_sp.zero();
_thrust_sp = 0.0f;
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
}
}
}