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Stabilization enabling / switching

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This commit is contained in:
Lorenz Meier
2012-12-30 09:53:45 +01:00
parent 0298714db5
commit 62a95bf8e6
4 changed files with 98 additions and 53 deletions
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apps/commander/commander.c
+52 -47
View File
@@ -1684,63 +1684,63 @@ int commander_thread_main(int argc, char *argv[])
if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
/*
* Check if manual control modes have to be switched
*/
if (!isfinite(sp_man.manual_mode_switch)) {
printf("man mode sw not finite\n");
// /*
// * Check if manual control modes have to be switched
// */
// if (!isfinite(sp_man.manual_mode_switch)) {
// printf("man mode sw not finite\n");
/* this switch is not properly mapped, set default */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
// /* this switch is not properly mapped, set default */
// if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
// (current_status.system_type == MAV_TYPE_HEXAROTOR) ||
// (current_status.system_type == MAV_TYPE_OCTOROTOR)) {
/* assuming a rotary wing, fall back to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
// } else {
/* assuming a fixed wing, fall back to direct pass-through */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
// /* assuming a fixed wing, fall back to direct pass-through */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = false;
// }
} else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
/* bottom stick position, set direct mode for vehicles supporting it */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
// /* bottom stick position, set direct mode for vehicles supporting it */
// if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
// (current_status.system_type == MAV_TYPE_HEXAROTOR) ||
// (current_status.system_type == MAV_TYPE_OCTOROTOR)) {
/* assuming a rotary wing, fall back to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
// } else {
/* assuming a fixed wing, set to direct pass-through as requested */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
// /* assuming a fixed wing, set to direct pass-through as requested */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = false;
// }
} else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
/* top stick position, set SAS for all vehicle types */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
// /* top stick position, set SAS for all vehicle types */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
} else {
/* center stick position, set rate control */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
}
// } else {
// /* center stick position, set rate control */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = true;
// }
printf("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
// printf("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
/*
* Check if manual stability control modes have to be switched
@@ -1801,7 +1801,7 @@ int commander_thread_main(int argc, char *argv[])
if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
/* enable manual override */
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else {
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
/* check auto mode switch for correct mode */
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
/* enable stabilized mode */
@@ -1813,6 +1813,11 @@ int commander_thread_main(int argc, char *argv[])
} else {
update_state_machine_mode_hold(stat_pub, &current_status, mavlink_fd);
}
} else {
/* center stick position, set SAS for all vehicle types */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
}
/* handle the case where RC signal was regained */
apps/commander/state_machine_helper.c
+18 -3
View File
@@ -520,9 +520,24 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true;
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
/* set behaviour based on airframe */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
/* assuming a rotary wing, set to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
/* assuming a fixed wing, set to direct pass-through */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {