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Make sure we allow multirotor attitude control for VTOLs when transitioning from FW to MC mode.

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This commit is contained in:
Simon Wilks
2015-08-23 21:00:01 +02:00
parent 22690ce897
commit 2c69d2d5d6
1 changed files with 13 additions and 2 deletions
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src/modules/commander/commander.cpp
+13 -2
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@@ -239,6 +239,8 @@ transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct ma
void set_control_mode(); void set_control_mode();
bool stabilization_required();
void print_reject_mode(struct vehicle_status_s *current_status, const char *msg); void print_reject_mode(struct vehicle_status_s *current_status, const char *msg);
void print_reject_arm(const char *msg); void print_reject_arm(const char *msg);
@@ -2538,8 +2540,8 @@ set_control_mode()
case vehicle_status_s::NAVIGATION_STATE_MANUAL: case vehicle_status_s::NAVIGATION_STATE_MANUAL:
control_mode.flag_control_manual_enabled = true; control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false; control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); control_mode.flag_control_rates_enabled = stabilization_required();
control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); control_mode.flag_control_attitude_enabled = stabilization_required();
control_mode.flag_control_altitude_enabled = false; control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false; control_mode.flag_control_position_enabled = false;
@@ -2707,6 +2709,15 @@ set_control_mode()
} }
} }
bool
stabilization_required()
{
return (status.is_rotary_wing || // is a rotary wing, or
status.vtol_fw_permanent_stab || // is a VTOL in fixed wing mode and stabilisation is on, or
(vtol_status.vtol_in_trans_mode && // is currently a VTOL transitioning AND
!status.is_rotary_wing)); // is a fixed wing, ie: transitioning back to rotary wing mode
}
void void
print_reject_mode(struct vehicle_status_s *status_local, const char *msg) print_reject_mode(struct vehicle_status_s *status_local, const char *msg)
{ {