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Only command Gripper grab when we are actually initializing gripper

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- Previously, on every parameter update, gripper grab was being
commanded
- This commit narrows that scope to only when we are actually
initializing the gripper
This commit is contained in:
Junwoo Hwang
2022-10-07 12:23:56 +02:00
parent 5b94731f35
commit 4b33632615
1 changed files with 17 additions and 15 deletions
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src/modules/payload_deliverer/payload_deliverer.cpp
+17 -15
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@@ -61,28 +61,30 @@ bool PayloadDeliverer::initialize_gripper()
config.sensor = GripperConfig::GripperSensorType::NONE; // Feedback sensor isn't supported for now
config.timeout_us = hrt_abstime(_param_gripper_timeout_s.get() * 1000000ULL);
_gripper.init(config);
if (!_gripper.is_valid()) {
PX4_DEBUG("Gripper object initialization failed!");
return false;
} else {
// Command the gripper to grab position by default
if (!_gripper.grabbed() && !_gripper.grabbing()) {
PX4_DEBUG("Gripper intialize: putting to grab position!");
send_gripper_vehicle_command(vehicle_command_s::GRIPPER_ACTION_GRAB);
}
return true;
}
}
// NOTE: Support for changing gripper sensor type / gripper type configuration when
// the parameter change is detected isn't added as we don't have actual use case for that
// yet!
if (!_gripper.is_valid()) {
PX4_DEBUG("Gripper object initialization invalid!");
return false;
} else {
_gripper.update();
// If gripper wasn't commanded to go to grab position, command.
if (!_gripper.grabbed() && !_gripper.grabbing()) {
PX4_DEBUG("Gripper intialize: putting to grab position!");
send_gripper_vehicle_command(vehicle_command_s::GRIPPER_ACTION_GRAB);
}
return true;
}
// NOTE: De-initializing the gripper when `PD_GRIPPER_EN` param gets set to 0
// is also not implemented yet (assuming users won't be disabling the gripper)!
return false;
}
void PayloadDeliverer::parameter_update()