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MulticopterPositionControl: publish stricter tilt limit during takeoff

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This commit is contained in:
Matthias Grob 2021-04-13 17:15:15 +02:00
parent ff67da1bb4
commit 29e07b1e52
3 changed files with 9 additions and 10 deletions
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2
msg/takeoff_status.msg
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@ -10,3 +10,5 @@ uint8 TAKEOFF_STATE_RAMPUP = 4
uint8 TAKEOFF_STATE_FLIGHT = 5
uint8 takeoff_state
float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise

13
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@ -461,13 +461,12 @@ void MulticopterPositionControl::Run()
// Publish takeoff status
const uint8_t takeoff_state = static_cast<uint8_t>(_takeoff.getTakeoffState());
if (takeoff_state != _old_takeoff_state) {
takeoff_status_s takeoff_status{};
takeoff_status.takeoff_state = takeoff_state;
takeoff_status.timestamp = hrt_absolute_time();
_takeoff_status_pub.publish(takeoff_status);
_old_takeoff_state = takeoff_state;
if (takeoff_state != _takeoff_status_pub.get().takeoff_state
|| !isEqualF(_tilt_limit_slew_rate.getState(), _takeoff_status_pub.get().tilt_limit)) {
_takeoff_status_pub.get().takeoff_state = takeoff_state;
_takeoff_status_pub.get().tilt_limit = _tilt_limit_slew_rate.getState();
_takeoff_status_pub.get().timestamp = hrt_absolute_time();
_takeoff_status_pub.update();
}
// save latest reset counters

4
src/modules/mc_pos_control/MulticopterPositionControl.hpp
View File

@ -92,7 +92,7 @@ private:
orb_advert_t _mavlink_log_pub{nullptr};
uORB::Publication<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
uORB::PublicationData<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub;
uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */
@ -200,8 +200,6 @@ private:
systemlib::Hysteresis _failsafe_land_hysteresis{false}; /**< becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND */
SlewRate<float> _tilt_limit_slew_rate;
uint8_t _old_takeoff_state{};
uint8_t _vxy_reset_counter{0};
uint8_t _vz_reset_counter{0};
uint8_t _xy_reset_counter{0};