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introduced vtol_fw_permanent stabilization: allows vtol to be attitude-stabilized in manual mode

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tumbili
2014-12-31 16:25:15 +01:00
committed by Lorenz Meier
parent 57ca716402
commit 72eafad510
5 changed files with 30 additions and 3 deletions
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src/modules/commander/commander.cpp
+3 -3
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@@ -1267,7 +1267,7 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
/* vtol status changed */
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
@@ -2246,8 +2246,8 @@ set_control_mode()
case NAVIGATION_STATE_MANUAL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = status.is_rotary_wing;
control_mode.flag_control_attitude_enabled = status.is_rotary_wing;
control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab);
control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab);
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;