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Merge pull request #979 from PX4/acro2

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ACRO mode
This commit is contained in:
Lorenz Meier
2014-05-20 08:36:49 -07:00
parent 4fdc016308 559bfbb11c
commit 639d86eab2
11 changed files with 160 additions and 15 deletions
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src/modules/commander/commander.cpp
+23 -2
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@@ -453,6 +453,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_res = main_state_transition(status, MAIN_STATE_AUTO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_res = main_state_transition(status, MAIN_STATE_ACRO);
}
} else {
@@ -652,6 +656,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO";
main_states_str[4] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
@@ -1206,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@@ -1619,7 +1624,12 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break;
case SWITCH_POS_OFF: // MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@@ -1731,6 +1741,17 @@ set_control_mode()
navigator_enabled = true;
break;
case MAIN_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
default:
break;
}