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Add Range-based RTL

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This commit is contained in:
Julian Kent
2021-01-18 16:26:53 +01:00
committed by Lorenz Meier
parent e817fb83f5
commit 7482413005
8 changed files with 162 additions and 5 deletions
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src/modules/commander/Commander.hpp
+8 -1
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@@ -33,6 +33,8 @@
#pragma once
/* Helper classes */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "failure_detector/FailureDetector.hpp"
#include "state_machine_helper.h"
@@ -75,6 +77,7 @@
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/power_button_state.h>
#include <uORB/topics/rtl_flight_time.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/telemetry_status.h>
@@ -269,7 +272,10 @@ private:
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamFloat<px4::params::CP_DIST>) _param_cp_dist
(ParamFloat<px4::params::CP_DIST>) _param_cp_dist,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr
)
enum class PrearmedMode {
@@ -426,6 +432,7 @@ private:
uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<rtl_flight_time_s> _rtl_flight_time_sub{ORB_ID(rtl_flight_time)};
// Publications
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};