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Replaces poshold/althold with posctrl/altctrl

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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
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src/modules/commander/commander.cpp
+23 -23
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@@ -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;