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en-/disable mc position controller using explicit control mode flag

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bresch 2021-06-09 16:03:52 +02:00 committed by Mathieu Bresciani
parent 17ea92bb54
commit 514845592b
3 changed files with 10 additions and 1 deletions
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1
msg/vehicle_control_mode.msg
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@ -2,6 +2,7 @@ uint64 timestamp # time since system start (microseconds)
bool flag_armed # synonym for actuator_armed.armed
bool flag_external_manual_override_ok # external override non-fatal for system. Only true for fixed wing
bool flag_multicopter_position_control_enabled
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act

8
src/modules/commander/Commander.cpp
View File

@ -3328,6 +3328,14 @@ Commander::update_control_mode()
break;
}
_vehicle_control_mode.flag_multicopter_position_control_enabled =
(_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& (_vehicle_control_mode.flag_control_altitude_enabled
|| _vehicle_control_mode.flag_control_climb_rate_enabled
|| _vehicle_control_mode.flag_control_position_enabled
|| _vehicle_control_mode.flag_control_velocity_enabled
|| _vehicle_control_mode.flag_control_acceleration_enabled);
_vehicle_control_mode.timestamp = hrt_absolute_time();
_control_mode_pub.publish(_vehicle_control_mode);
}

2
src/modules/mc_pos_control/MulticopterPositionControl.cpp
View File

@ -289,7 +289,7 @@ void MulticopterPositionControl::Run()
PositionControlStates states{set_vehicle_states(local_pos)};
if (_control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_climb_rate_enabled) {
if (_control_mode.flag_multicopter_position_control_enabled) {
_trajectory_setpoint_sub.update(&_setpoint);