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commander: internalize system status bools

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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
2016-02-25 17:00:39 +00:00
parent 705979e3c7
commit 1f44fb1efd
18 changed files with 450 additions and 332 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+15 -5
View File
@@ -77,6 +77,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <systemlib/systemlib.h>
#include <systemlib/mavlink_log.h>
@@ -126,6 +127,7 @@ private:
orb_advert_t _mavlink_log_pub; /**< mavlink log advert */
int _vehicle_status_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
int _ctrl_state_sub; /**< control state subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _control_mode_sub; /**< vehicle control mode subscription */
@@ -144,7 +146,8 @@ private:
orb_id_t _attitude_setpoint_id;
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct control_state_s _ctrl_state; /**< vehicle attitude */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
struct control_state_s _ctrl_state; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
@@ -607,6 +610,12 @@ MulticopterPositionControl::poll_subscriptions()
}
}
orb_check(_vehicle_land_detected_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
}
orb_check(_ctrl_state_sub, &updated);
if (updated) {
@@ -1153,6 +1162,7 @@ MulticopterPositionControl::task_main()
* do subscriptions
*/
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -1341,7 +1351,7 @@ MulticopterPositionControl::task_main()
}
} else if (_control_mode.flag_control_manual_enabled
&& _vehicle_status.condition_landed) {
&& _vehicle_land_detected.landed) {
/* don't run controller when landed */
_reset_pos_sp = true;
_reset_alt_sp = true;
@@ -1462,7 +1472,7 @@ MulticopterPositionControl::task_main()
// check if we are not already in air.
// if yes then we don't need a jumped takeoff anymore
if (!_takeoff_jumped && !_vehicle_status.condition_landed && fabsf(_takeoff_thrust_sp) < FLT_EPSILON) {
if (!_takeoff_jumped && !_vehicle_land_detected.landed && fabsf(_takeoff_thrust_sp) < FLT_EPSILON) {
_takeoff_jumped = true;
}
@@ -1906,7 +1916,7 @@ MulticopterPositionControl::task_main()
}
/* do not move yaw while sitting on the ground */
else if (!_vehicle_status.condition_landed &&
else if (!_vehicle_land_detected.landed &&
!(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.1f)) {
/* we want to know the real constraint, and global overrides manual */
@@ -1939,7 +1949,7 @@ MulticopterPositionControl::task_main()
_att_sp.thrust = math::min(thr_val, _manual_thr_max.get());
/* enforce minimum throttle if not landed */
if (!_vehicle_status.condition_landed) {
if (!_vehicle_land_detected.landed) {
_att_sp.thrust = math::max(_att_sp.thrust, _manual_thr_min.get());
}
}