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RunwayTakeoff: add the RunwayTakeoffState to the FixedWingRunwayControl.msg

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mahima-yoga 2026-01-09 16:55:57 +01:00 committed by Mahima Yoga
parent e371c4edd9
commit 6de6abfb64
4 changed files with 18 additions and 7 deletions
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9
msg/FixedWingRunwayControl.msg
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@ -1,8 +1,15 @@
# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
uint64 timestamp # [us] time since system start
uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
uint8 STATE_FLYING = 3 # navigate freely
uint8 runway_takeoff_state # Current state of runway takeoff state machine
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.

4
src/modules/fw_mode_manager/FixedWingModeManager.cpp
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@ -1170,6 +1170,7 @@ FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float c
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = _runway_takeoff.getState();
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_rwto_nudge.get() ? _sticks.getYaw() : 0.f;
@ -1343,6 +1344,7 @@ FixedWingModeManager::control_auto_takeoff_no_nav(const hrt_abstime &now, const
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = _runway_takeoff.getState();
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_rwto_nudge.get() ? _sticks.getYaw() : 0.f;
@ -1591,6 +1593,7 @@ FixedWingModeManager::control_auto_landing_straight(const hrt_abstime &now, cons
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = fixed_wing_runway_control_s::STATE_FLYING; // not in takeoff, use FLYING as default
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled ?
_sticks.getYaw() : 0.f;
@ -1761,6 +1764,7 @@ FixedWingModeManager::control_auto_landing_circular(const hrt_abstime &now, cons
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = fixed_wing_runway_control_s::STATE_FLYING; // not in takeoff, use FLYING as default
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled ?
_sticks.getYaw() : 0.f;

8
src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.cpp
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@ -86,7 +86,7 @@ void RunwayTakeoff::update(const hrt_abstime &time_now, const float takeoff_airs
case RunwayTakeoffState::CLIMBOUT:
if (vehicle_altitude > clearance_altitude) {
takeoff_state_ = RunwayTakeoffState::FLY;
takeoff_state_ = RunwayTakeoffState::FLYING;
events::send(events::ID("runway_takeoff_reached_clearance_altitude"), events::Log::Info, "Reached clearance altitude");
}
@ -134,7 +134,7 @@ float RunwayTakeoff::getThrottle(const float idle_throttle) const
break;
case RunwayTakeoffState::FLY:
case RunwayTakeoffState::FLYING:
throttle = NAN;
}
@ -147,7 +147,7 @@ float RunwayTakeoff::getMinPitch(float min_pitch_in_climbout, float min_pitch) c
// constrain to the taxi pitch setpoint
return math::radians(param_rwto_psp_.get() - 0.01f);
} else if (takeoff_state_ < RunwayTakeoffState::FLY) {
} else if (takeoff_state_ < RunwayTakeoffState::FLYING) {
// ramp in the climbout pitch constraint over the rotation transition time
const float taxi_pitch_min = math::radians(param_rwto_psp_.get() - 0.01f);
return interpolateValuesOverAbsoluteTime(taxi_pitch_min, min_pitch_in_climbout, takeoff_time_,
@ -164,7 +164,7 @@ float RunwayTakeoff::getMaxPitch(const float max_pitch) const
// constrain to the taxi pitch setpoint
return math::radians(param_rwto_psp_.get() + 0.01f);
} else if (takeoff_state_ < RunwayTakeoffState::FLY) {
} else if (takeoff_state_ < RunwayTakeoffState::FLYING) {
// ramp in the climbout pitch constraint over the rotation transition time
const float taxi_pitch_max = math::radians(param_rwto_psp_.get() + 0.01f);
return interpolateValuesOverAbsoluteTime(taxi_pitch_max, max_pitch, takeoff_time_, param_rwto_rot_time_.get());

4
src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.h
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@ -57,7 +57,7 @@ enum RunwayTakeoffState {
THROTTLE_RAMP = 0, // ramping up throttle
CLAMPED_TO_RUNWAY, // clamped to runway, controlling yaw directly (wheel or rudder)
CLIMBOUT, // climbout to safe height before navigation
FLY // navigate freely
FLYING // navigate freely
};
class __EXPORT RunwayTakeoff : public ModuleParams
@ -135,7 +135,7 @@ public:
float getMaxPitch(const float max_pitch) const;
// NOTE: this is only to be used for mistaken mode transitions to takeoff while already in air
void forceSetFlyState() { takeoff_state_ = RunwayTakeoffState::FLY; }
void forceSetFlyState() { takeoff_state_ = RunwayTakeoffState::FLYING; }
/**
* @brief Reset the state machine.