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fixed wing offboard attitude setpoint fix (#6112)

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aivian
2017-02-15 23:51:50 -05:00
committed by Daniel Agar
parent a84dc2e3d2
commit 7a77e27a79
3 changed files with 15 additions and 11 deletions
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src/modules/commander/state_machine_helper.cpp
+1 -3
View File
@@ -450,10 +450,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal
* OFFBOARD only implemented in MC
*/
if (!status_flags->offboard_control_signal_lost
&& status->is_rotary_wing) {
if (!status_flags->offboard_control_signal_lost) {
ret = TRANSITION_CHANGED;
}
src/modules/fw_att_control/fw_att_control_main.cpp
+1 -1
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@@ -974,7 +974,7 @@ FixedwingAttitudeControl::task_main()
// in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+13 -7
View File
@@ -2346,14 +2346,20 @@ FixedwingPositionControl::task_main()
_att_sp.q_d[3] = q(3);
_att_sp.q_d_valid = true;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
if (!_control_mode.flag_control_offboard_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled) {
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
}
/* XXX check if radius makes sense here */