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Stabilization enabling / switching

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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/state_machine_helper.c
+18 -3
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@@ -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) {