fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 23:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed inner yaw rate loop

Browse Source
This commit is contained in:
Lorenz Meier
2012-10-04 10:56:55 +02:00
parent dfae108e6a
commit 2a06b66845
4 changed files with 85 additions and 137 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
-6
View File
@@ -1307,18 +1307,12 @@ int commander_thread_main(int argc, char *argv[])
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
apps/commander/state_machine_helper.c
+9 -4
View File
@@ -501,9 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true;
current_status->flag_control_manual_enabled = true; //XXX
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -516,7 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -529,7 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {