fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 04:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: internalize system status bools

Browse Source 
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.

Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
This commit is contained in:
Julian Oes
2016-04-11 18:01:47 +02:00
parent 705979e3c7
commit 1f44fb1efd
18 changed files with 450 additions and 332 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
+27 -1
View File
@@ -72,6 +72,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/pid/pid.h>
@@ -135,6 +136,7 @@ private:
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */
@@ -155,6 +157,7 @@ private:
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
@@ -317,6 +320,11 @@ private:
*/
void vehicle_status_poll();
/**
* Check for vehicle land detected updates.
*/
void vehicle_land_detected_poll();
/**
* Shim for calling task_main from task_create.
*/
@@ -355,6 +363,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_manual_sub(-1),
_global_pos_sub(-1),
_vehicle_status_sub(-1),
_vehicle_land_detected_sub(-1),
/* publications */
_rate_sp_pub(nullptr),
@@ -387,6 +396,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_actuators_airframe = {};
_global_pos = {};
_vehicle_status = {};
_vehicle_land_detected = {};
_parameter_handles.p_tc = param_find("FW_P_TC");
@@ -652,6 +662,18 @@ FixedwingAttitudeControl::vehicle_status_poll()
}
}
void
FixedwingAttitudeControl::vehicle_land_detected_poll()
{
/* check if there is new status information */
bool vehicle_land_detected_updated;
orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated);
if (vehicle_land_detected_updated) {
orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
}
}
void
FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
{
@@ -672,6 +694,7 @@ FixedwingAttitudeControl::task_main()
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
parameters_update();
@@ -681,6 +704,7 @@ FixedwingAttitudeControl::task_main()
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
@@ -806,6 +830,8 @@ FixedwingAttitudeControl::task_main()
vehicle_status_poll();
vehicle_land_detected_poll();
// the position controller will not emit attitude setpoints in some modes
// we need to make sure that this flag is reset
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
@@ -1056,7 +1082,7 @@ FixedwingAttitudeControl::task_main()
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_status.condition_landed || _vehicle_status.is_rotary_wing) {
if (_vehicle_land_detected.landed || _vehicle_status.is_rotary_wing) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();