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Navigator: make weather vane work in all auto modes, not just mission (#13761)

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- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
 - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
 - flag is set before front transition to align with wp, and unset after alignment is over

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2019-12-28 18:13:16 +01:00 committed by Daniel Agar
parent 89e1f478ac
commit 574b482fdb
3 changed files with 7 additions and 7 deletions
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2
msg/position_setpoint.msg
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@ -55,4 +55,4 @@ float32 acceptance_radius # navigation acceptance_radius if we're doing waypoi
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
bool allow_weather_vane # VTOL: allow (in mission mode) the weather vane feature that turns the nose into the wind
bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind

2
src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
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@ -238,7 +238,7 @@ bool FlightTaskAuto::_evaluateTriplets()
if (_ext_yaw_handler != nullptr) {
// activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane)
(_param_wv_en.get() && _sub_triplet_setpoint.get().current.allow_weather_vane) ? _ext_yaw_handler->activate() :
(_param_wv_en.get() && !_sub_triplet_setpoint.get().current.disable_weather_vane) ? _ext_yaw_handler->activate() :
_ext_yaw_handler->deactivate();
}

10
src/modules/navigator/mission.cpp
View File

@ -688,9 +688,6 @@ Mission::set_mission_items()
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// allow weather vane in mission
pos_sp_triplet->current.allow_weather_vane = true;
/* do takeoff before going to setpoint if needed and not already in takeoff */
/* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
if (do_need_vertical_takeoff() &&
@ -773,7 +770,7 @@ Mission::set_mission_items()
!_navigator->get_land_detected()->landed) {
/* disable weathervane before front transition for allowing yaw to align */
pos_sp_triplet->current.allow_weather_vane = false;
pos_sp_triplet->current.disable_weather_vane = true;
/* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */
_mission_item.yaw = get_bearing_to_next_waypoint(
@ -795,6 +792,9 @@ Mission::set_mission_items()
_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_navigator->get_land_detected()->landed) {
/* re-enable weather vane again after alignment */
pos_sp_triplet->current.disable_weather_vane = false;
/* check if the vtol_takeoff waypoint is on top of us */
if (do_need_move_to_takeoff()) {
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
@ -976,7 +976,7 @@ Mission::set_mission_items()
&& has_next_position_item) {
/* disable weathervane before front transition for allowing yaw to align */
pos_sp_triplet->current.allow_weather_vane = false;
pos_sp_triplet->current.disable_weather_vane = true;
new_work_item_type = WORK_ITEM_TYPE_ALIGN;