fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 10:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replaces poshold/althold with posctrl/altctrl

Browse Source
This commit is contained in:
TickTock-
2014-04-28 21:47:45 -07:00
parent 269800b48c
commit 31089a290b
16 changed files with 97 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+23 -23
View File
@@ -434,13 +434,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTHOLD) {
/* ALTHOLD */
main_res = main_state_transition(status, MAIN_STATE_ALTHOLD);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
/* ALTCTRL */
main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSHOLD) {
/* POSHOLD */
main_res = main_state_transition(status, MAIN_STATE_POSHOLD);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
/* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
@@ -455,8 +455,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* POSHOLD */
main_res = main_state_transition(status, MAIN_STATE_POSHOLD);
/* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */
@@ -628,8 +628,8 @@ int commander_thread_main(int argc, char *argv[])
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "ALTHOLD";
main_states_str[2] = "POSHOLD";
main_states_str[1] = "ALTCTRL";
main_states_str[2] = "POSCTRL";
main_states_str[3] = "AUTO";
char *arming_states_str[ARMING_STATE_MAX];
@@ -1299,8 +1299,8 @@ int commander_thread_main(int argc, char *argv[])
}
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on poshold position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.poshold_switch == SWITCH_POS_ON) {
/* flight termination in manual mode if assisted switch is on posctrl position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive(armed.armed);
}
@@ -1557,25 +1557,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break;
case SWITCH_POS_MIDDLE: // ASSISTED
if (sp_man->poshold_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSHOLD);
if (sp_man->posctrl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// else fallback to ALTHOLD
print_reject_mode(status, "POSHOLD");
// else fallback to ALTCTRL
print_reject_mode(status, "POSCTRL");
}
res = main_state_transition(status, MAIN_STATE_ALTHOLD);
res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}
if (sp_man->poshold_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTHOLD");
if (sp_man->posctrl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTCTRL");
}
// else fallback to MANUAL
@@ -1590,9 +1590,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this state
}
// else fallback to ALTHOLD (POSHOLD likely will not work too)
// else fallback to ALTCTRL (POSCTRL likely will not work too)
print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_ALTHOLD);
res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
@@ -1638,7 +1638,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_ALTHOLD:
case MAIN_STATE_ALTCTRL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
@@ -1649,7 +1649,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_POSHOLD:
case MAIN_STATE_POSCTRL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+12 -12
View File
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to ALTHOLD.
// MANUAL to ALTCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = true;
new_main_state = MAIN_STATE_ALTHOLD;
ut_assert("tranisition: manual to althold",
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("tranisition: manual to altctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state);
ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
// MANUAL to ALTHOLD, invalid local altitude.
// MANUAL to ALTCTRL, invalid local altitude.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = false;
new_main_state = MAIN_STATE_ALTHOLD;
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("no transition: invalid local altitude",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to POSHOLD.
// MANUAL to POSCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = true;
new_main_state = MAIN_STATE_POSHOLD;
ut_assert("transition: manual to poshold",
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("transition: manual to posctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state);
ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
// MANUAL to POSHOLD, invalid local position.
// MANUAL to POSCTRL, invalid local position.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = false;
new_main_state = MAIN_STATE_POSHOLD;
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("no transition: invalid position",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
src/modules/commander/px4_custom_mode.h
+2 -2
View File
@@ -12,8 +12,8 @@
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTHOLD,
PX4_CUSTOM_MAIN_MODE_POSHOLD,
PX4_CUSTOM_MAIN_MODE_ALTCTRL,
PX4_CUSTOM_MAIN_MODE_POSCTRL,
PX4_CUSTOM_MAIN_MODE_AUTO,
};
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_ALTHOLD:
case MAIN_STATE_ALTCTRL:
/* need at minimum altitude estimate */
if (!status->is_rotary_wing ||
@@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case MAIN_STATE_POSHOLD:
case MAIN_STATE_POSCTRL:
/* need at minimum local position estimate */
if (status->condition_local_position_valid ||