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ACRO mode implemented

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This commit is contained in:
Anton Babushkin
2014-01-31 22:44:05 +01:00
parent d933d523eb
commit 7f4f9a5f5f
9 changed files with 144 additions and 35 deletions
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src/modules/commander/commander.cpp
+31 -4
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@@ -619,9 +619,10 @@ int commander_thread_main(int argc, char *argv[])
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "SEATBELT";
main_states_str[2] = "EASY";
main_states_str[3] = "AUTO";
main_states_str[1] = "ACRO";
main_states_str[2] = "SEATBELT";
main_states_str[3] = "EASY";
main_states_str[4] = "AUTO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
@@ -1510,6 +1511,17 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
} else {
status->mission_switch = MISSION_SWITCH_MISSION;
}
/* acro switch */
if (!isfinite(sp_man->acro_switch)) {
status->acro_switch = ACRO_SWITCH_NONE;
} else if (sp_man->acro_switch > STICK_ON_OFF_LIMIT) {
status->acro_switch = ACRO_SWITCH_ACRO;
} else {
status->acro_switch = ACRO_SWITCH_NORMAL;
}
}
transition_result_t
@@ -1520,7 +1532,11 @@ set_main_state_rc(struct vehicle_status_s *status)
switch (status->mode_switch) {
case MODE_SWITCH_MANUAL:
res = main_state_transition(status, MAIN_STATE_MANUAL);
if (status->acro_switch == ACRO_SWITCH_ACRO) {
res = main_state_transition(status, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
@@ -1600,6 +1616,17 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_ACRO:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_SEATBELT:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;