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implemented vtol weathervane yaw control for landing and loiter mission item

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This commit is contained in:
Roman
2016-02-15 09:48:37 +01:00
parent be0f680863
commit 80f8fcbdf6
5 changed files with 74 additions and 3 deletions
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src/modules/navigator/mission_block.cpp
+11 -1
View File
@@ -70,7 +70,9 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_action_start(0),
_actuators{},
_actuator_pub(nullptr),
_cmd_pub(nullptr)
_cmd_pub(nullptr),
_param_vtol_wv_land(this, "VT_WV_LND_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false)
{
}
@@ -175,6 +177,7 @@ MissionBlock::is_mission_item_reached()
}
/* Check if the waypoint and the requested yaw setpoint. */
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
@@ -310,6 +313,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->loiter_direction = item->loiter_direction;
sp->pitch_min = item->pitch_min;
sp->acceptance_radius = item->acceptance_radius;
sp->disable_mc_yaw_control = false;
switch (item->nav_cmd) {
case NAV_CMD_IDLE:
@@ -322,12 +326,18 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
case NAV_CMD_LAND:
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_land.get()){
sp->disable_mc_yaw_control = true;
}
break;
case NAV_CMD_LOITER_TIME_LIMIT:
case NAV_CMD_LOITER_TURN_COUNT:
case NAV_CMD_LOITER_UNLIMITED:
sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_loiter.get()){
sp->disable_mc_yaw_control = true;
}
break;
default:
src/modules/navigator/mission_block.h
+5
View File
@@ -45,6 +45,9 @@
#include <navigator/navigation.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
@@ -129,6 +132,8 @@ protected:
actuator_controls_s _actuators;
orb_advert_t _actuator_pub;
orb_advert_t _cmd_pub;
control::BlockParamInt _param_vtol_wv_land;
control::BlockParamInt _param_vtol_wv_loiter;
};
#endif