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vtol_att_control: move handling of motor state and idle speed selection

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to VtolType class

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 744f806214
commit 79ff1436b8
4 changed files with 16 additions and 39 deletions
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src/modules/vtol_att_control/standard.cpp
-10
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@@ -314,11 +314,6 @@ void Standard::update_mc_state()
{
VtolType::update_mc_state();
// enable MC motors here in case we transitioned directly to MC mode
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
// if the thrust scale param is zero or the drone is on manual mode,
// then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON ||
@@ -394,11 +389,6 @@ void Standard::update_mc_state()
void Standard::update_fw_state()
{
VtolType::update_fw_state();
// stop MC motors in FW mode
if (_motor_state != DISABLED) {
_motor_state = VtolType::set_motor_state(_motor_state, DISABLED);
}
}
/**
src/modules/vtol_att_control/tailsitter.cpp
-9
View File
@@ -257,20 +257,11 @@ void Tailsitter::waiting_on_tecs()
void Tailsitter::update_mc_state()
{
VtolType::update_mc_state();
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
flag_idle_mc = set_idle_mc();
}
}
void Tailsitter::update_fw_state()
{
VtolType::update_fw_state();
if (flag_idle_mc) {
flag_idle_mc = !set_idle_fw();
}
}
/**
src/modules/vtol_att_control/tiltrotor.cpp
-20
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@@ -216,16 +216,6 @@ void Tiltrotor::update_mc_state()
// make sure motors are not tilted
_tilt_control = _params_tiltrotor.tilt_mc;
// enable rear motors
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
flag_idle_mc = set_idle_mc();
}
}
void Tiltrotor::update_fw_state()
@@ -234,16 +224,6 @@ void Tiltrotor::update_fw_state()
// make sure motors are tilted forward
_tilt_control = _params_tiltrotor.tilt_fw;
// disable rear motors
if (_motor_state != DISABLED) {
_motor_state = set_motor_state(_motor_state, DISABLED);
}
// adjust idle for fixed wing flight
if (flag_idle_mc) {
flag_idle_mc = !set_idle_fw();
}
}
void Tiltrotor::update_transition_state()
src/modules/vtol_att_control/vtol_type.cpp
+16
View File
@@ -115,6 +115,14 @@ bool VtolType::init()
void VtolType::update_mc_state()
{
if (!flag_idle_mc) {
flag_idle_mc = set_idle_mc();
}
if (_motor_state != ENABLED) {
_motor_state = VtolType::set_motor_state(_motor_state, ENABLED);
}
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
@@ -143,6 +151,14 @@ void VtolType::update_mc_state()
void VtolType::update_fw_state()
{
if (flag_idle_mc) {
flag_idle_mc = !set_idle_fw();
}
if (_motor_state != DISABLED) {
_motor_state = VtolType::set_motor_state(_motor_state, DISABLED);
}
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
_mc_roll_weight = 0.0f;