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control_mode: reorder modes according to controller cascade

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This commit is contained in:
Matthias Grob
2023-11-23 19:27:30 +01:00
parent 6e31638817
commit 8271faedeb
3 changed files with 20 additions and 20 deletions
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src/modules/commander/ModeManagement.hpp
+1 -1
View File
@@ -92,8 +92,8 @@ public:
config_control_setpoint_.flag_control_altitude_enabled = true;
config_control_setpoint_.flag_control_climb_rate_enabled = true;
config_control_setpoint_.flag_control_acceleration_enabled = true;
config_control_setpoint_.flag_control_rates_enabled = true;
config_control_setpoint_.flag_control_attitude_enabled = true;
config_control_setpoint_.flag_control_rates_enabled = true;
config_control_setpoint_.flag_control_allocation_enabled = true;
}
src/modules/commander/ModeUtil/control_mode.cpp
+14 -14
View File
@@ -50,35 +50,35 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
@@ -90,12 +90,12 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
@@ -107,9 +107,9 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;