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Removed actuator_control_mode flags...Using pre-existing flags instead

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This commit is contained in:
Matt Beall 2015-02-25 14:25:28 -07:00 committed by Thomas Gubler
parent d7dc3a3ee8
commit 220fb19eb7
7 changed files with 18 additions and 31 deletions
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1
msg/vehicle_control_mode.msg
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@ -12,7 +12,6 @@ bool flag_system_hil_enabled
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used
bool flag_control_offboard_actuator_control_enabled #true if raw actuator control in offboard used
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_force_enabled # true if force control is mixed in

10
src/modules/commander/commander.cpp
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@ -2302,7 +2302,6 @@ set_control_mode()
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
control_mode.flag_control_offboard_actuator_control_enabled = false;
switch (status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
@ -2442,7 +2441,6 @@ set_control_mode()
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
@ -2453,14 +2451,6 @@ set_control_mode()
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_offboard_actuator_control_enabled = offboard_control_mode.ignore_thrust &&
offboard_control_mode.ignore_attitude &&
offboard_control_mode.ignore_bodyrate &&
offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity &&
offboard_control_mode.ignore_acceleration_force &&
offboard_control_mode.actuator_control_mode;
break;
default:

7
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
//vehicle_control_mode_s
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
@ -1077,8 +1077,9 @@ FixedwingAttitudeControl::task_main()
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if actuator_control mode is not enabled */
if(!_vcontrol_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if any of the proper modes are enabled */
if(_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled)
{
/* publish the actuator controls */
if (_actuators_0_pub > 0) {

18
src/modules/mavlink/mavlink_receiver.cpp
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@ -540,8 +540,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
offboard_control_mode.actuator_control_mode = false;
offboard_control_mode.timestamp = hrt_absolute_time();
@ -665,10 +663,10 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)){
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)) {
/* ignore all since we are setting raw actuators here */
offboard_control_mode.ignore_thrust = true;
@ -678,8 +676,6 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.actuator_control_mode = true;
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
@ -690,11 +686,12 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
actuator_controls.timestamp = hrt_absolute_time();
for(size_t i = 0; i < 8 ; i++){
/* Set duty cycles for the servos in actuator_controls_0 */
for(size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
if (_offboard_control_mode_pub < 0) {
if (_actuator_controls_pub < 0) {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
@ -783,7 +780,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude;
}
offboard_control_mode.actuator_control_mode = false;
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;

2
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -804,7 +804,7 @@ MulticopterAttitudeControl::task_main()
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
if (!_actuators_0_circuit_breaker_enabled || !_v_control_mode.flag_control_offboard_actuator_control_enabled) {
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);

1
src/modules/uORB/topics/offboard_control_mode.h
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@ -61,7 +61,6 @@ struct offboard_control_mode_s {
bool ignore_position;
bool ignore_velocity;
bool ignore_acceleration_force;
bool actuator_control_mode;
}; /**< offboard control inputs */
/**

10
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -782,8 +782,9 @@ void VtolAttitudeControl::task_main()
fill_mc_att_control_output();
fill_mc_att_rates_sp();
/* Only publish if actuator_control mode is not enabled */
if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
@ -817,8 +818,9 @@ void VtolAttitudeControl::task_main()
fill_fw_att_control_output();
fill_fw_att_rates_sp();
/* Only publish if actuator_control mode is not enabled */
if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);