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evaluate transition command in vtol controller instead of vtol type, use distinct state variables instead of additional command struct

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This commit is contained in:
Andreas Antener
2015-08-18 11:44:01 +02:00
committed by Simon Wilks
parent 8fc52fea22
commit 80a3c74cfc
7 changed files with 33 additions and 30 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+28 -8
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@@ -97,7 +97,6 @@ VtolAttitudeControl::VtolAttitudeControl() :
memset(&_airspeed,0,sizeof(_airspeed));
memset(&_batt_status,0,sizeof(_batt_status));
memset(&_vehicle_cmd,0, sizeof(_vehicle_cmd));
memset(&_vehicle_transition_cmd,0, sizeof(_vehicle_cmd));
_params.idle_pwm_mc = PWM_LOWEST_MIN;
_params.vtol_motor_count = 0;
@@ -325,9 +324,35 @@ VtolAttitudeControl::vehicle_cmd_poll() {
if (updated) {
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_cmd);
handle_command();
}
}
/**
* Check received command
*/
void
VtolAttitudeControl::handle_command() {
// update transition command if necessary
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
_transition_command = int(_vehicle_cmd.param1 + 0.5f);
}
}
/*
* Returns true if fixed-wing mode is requested.
* Changed either via switch or via command.
*/
bool
VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = _manual_control_sp.aux1 > 0.0f;
if (_v_control_mode.flag_control_offboard_enabled) {
to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
return to_fw;
}
/**
* Update parameters.
*/
@@ -502,11 +527,6 @@ void VtolAttitudeControl::task_main()
vehicle_battery_poll();
vehicle_cmd_poll();
// update transition command if necessary
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
}
// update the vtol state machine which decides which mode we are in
_vtol_type->update_vtol_state();
@@ -514,10 +534,10 @@ void VtolAttitudeControl::task_main()
if (!_v_control_mode.flag_control_offboard_enabled)
{
if (_vtol_type->get_mode() == ROTARY_WING) {
_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
else if (_vtol_type->get_mode() == FIXED_WING) {
_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
}