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Add new stabilize mode

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Lorenz Meier
2015-05-17 12:58:44 +02:00
parent 2f80ddd11a
commit 8e935e6fa6
4 changed files with 92 additions and 12 deletions
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src/modules/commander/commander.cpp
+44 -6
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@@ -37,9 +37,9 @@
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Anton Babushkin <anton@px4.io>
*/
#include <nuttx/config.h>
@@ -88,7 +88,7 @@
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
@@ -497,6 +497,10 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
/* ACRO */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_ACRO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
/* STABILIZED */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_STAB);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
/* OFFBOARD */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_OFFBOARD);
@@ -514,6 +518,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_POSCTL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* STABILIZED */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_STAB);
} else {
/* MANUAL */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_MANUAL);
}
@@ -838,6 +845,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[vehicle_status_s::MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER";
main_states_str[vehicle_status_s::MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[vehicle_status_s::MAIN_STATE_ACRO] = "ACRO";
main_states_str[vehicle_status_s::MAIN_STATE_STAB] = "STAB";
main_states_str[vehicle_status_s::MAIN_STATE_OFFBOARD] = "OFFBOARD";
const char *arming_states_str[vehicle_status_s::ARMING_STATE_MAX];
@@ -851,6 +859,7 @@ int commander_thread_main(int argc, char *argv[])
const char *nav_states_str[vehicle_status_s::NAVIGATION_STATE_MAX];
nav_states_str[vehicle_status_s::NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_STAB] = "STAB";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
@@ -1737,7 +1746,10 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
(status.main_state == vehicle_status_s::MAIN_STATE_MANUAL || status.main_state == vehicle_status_s::MAIN_STATE_ACRO || status.condition_landed) &&
(status.main_state == vehicle_status_s::MAIN_STATE_MANUAL ||
status.main_state == vehicle_status_s::MAIN_STATE_ACRO ||
status.main_state == vehicle_status_s::MAIN_STATE_STAB ||
status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@@ -1770,7 +1782,8 @@ int commander_thread_main(int argc, char *argv[])
* for being in manual mode only applies to manual arming actions.
* the system can be armed in auto if armed via the GCS.
*/
if (status.main_state !=vehicle_status_s::MAIN_STATE_MANUAL) {
if ((status.main_state != vehicle_status_s::MAIN_STATE_MANUAL) &&
(status.main_state != vehicle_status_s::MAIN_STATE_STAB)) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
@@ -1939,6 +1952,7 @@ int commander_thread_main(int argc, char *argv[])
* and both failed we want to terminate the flight */
if (status.main_state !=vehicle_status_s::MAIN_STATE_MANUAL &&
status.main_state !=vehicle_status_s::MAIN_STATE_ACRO &&
status.main_state !=vehicle_status_s::MAIN_STATE_STAB &&
status.main_state !=vehicle_status_s::MAIN_STATE_ALTCTL &&
status.main_state !=vehicle_status_s::MAIN_STATE_POSCTL &&
((status.data_link_lost && status.gps_failure) ||
@@ -1963,6 +1977,7 @@ int commander_thread_main(int argc, char *argv[])
* if both failed we want to terminate the flight */
if ((status.main_state ==vehicle_status_s::MAIN_STATE_ACRO ||
status.main_state ==vehicle_status_s::MAIN_STATE_MANUAL ||
status.main_state !=vehicle_status_s::MAIN_STATE_STAB ||
status.main_state ==vehicle_status_s::MAIN_STATE_ALTCTL ||
status.main_state ==vehicle_status_s::MAIN_STATE_POSCTL) &&
((status.rc_signal_lost && status.gps_failure) ||
@@ -2290,6 +2305,17 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
case manual_control_setpoint_s::SWITCH_POS_OFF: // MANUAL
if (sp_man->acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (status.is_rotary_wing) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_ACRO);
} else {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_STAB);
}
} else if (sp_man->acro_switch == manual_control_setpoint_s::SWITCH_POS_MIDDLE) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_ACRO);
} else {
@@ -2401,6 +2427,18 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
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 = true;
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;
control_mode.flag_control_termination_enabled = false;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;