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Offboard control (#5816)

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* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work.  The line of code changed here causes failsafe RTL to kick in without this fix.

* Add altitude hold option using Z position control, while doing velocity control on vx and vy.

* Fix style and rebase issues
This commit is contained in:
Lorenz Meier
2016-11-07 12:09:41 +01:00
committed by GitHub
parent 9180268a17
commit 7be71459f5
4 changed files with 21 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -2
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@@ -937,9 +937,15 @@ MulticopterPositionControl::control_offboard(float dt)
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
/* Control altitude */
if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.alt_valid) {
/* control altitude as it is enabled */
_pos_sp(2) = _pos_sp_triplet.current.z;
_run_alt_control = true;
} else if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
/* control altitude because full position control is enabled */
_pos_sp(2) = _pos_sp_triplet.current.z;
_run_alt_control = true;
} else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) {
/* reset alt setpoint to current altitude if needed */