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commander refactor and cleanup offboard control mode

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This commit is contained in:
Daniel Agar
2019-06-15 20:45:26 -04:00
committed by GitHub
parent 648e7de249
commit 4e360064d9
3 changed files with 145 additions and 230 deletions
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src/modules/commander/Commander.hpp
+18 -2
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@@ -47,7 +47,9 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
// subscriptions
#include <uORB/Subscription.hpp>
@@ -55,6 +57,7 @@
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_command.h>
@@ -128,7 +131,11 @@ private:
(ParamInt<px4::params::COM_ASPD_FS_ACT>) _airspeed_fail_action,
(ParamFloat<px4::params::COM_ASPD_STALL>) _airspeed_stall,
(ParamInt<px4::params::COM_ASPD_FS_DLY>) _airspeed_rtl_delay,
(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile
(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act
)
@@ -187,6 +194,8 @@ private:
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
void update_control_mode();
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
@@ -200,6 +209,8 @@ private:
void estimator_check(bool *status_changed);
void offboard_control_update(bool &status_changed);
void airspeed_use_check();
void battery_status_check();
@@ -240,14 +251,19 @@ private:
uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
uORB::SubscriptionData<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::SubscriptionData<sensor_bias_s> _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
// Publications
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
orb_advert_t _status_pub{nullptr};
};
#endif /* COMMANDER_HPP_ */