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kconfig: Add option to enable figure of eight support

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This commit is contained in:
Konrad
2023-10-31 15:57:59 -04:00
committed by Daniel Agar
parent e5e66370e7
commit 8edd7ce2c1
10 changed files with 88 additions and 14 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.hpp
+16 -3
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@@ -47,7 +47,6 @@
#ifndef FIXEDWINGPOSITIONCONTROL_HPP_
#define FIXEDWINGPOSITIONCONTROL_HPP_
#include "figure_eight/FigureEight.hpp"
#include "launchdetection/LaunchDetector.h"
#include "runway_takeoff/RunwayTakeoff.h"
@@ -95,9 +94,15 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind.h>
#include <uORB/topics/orbit_status.h>
#ifdef CONFIG_FIGURE_OF_EIGHT
#include <uORB/topics/figure_eight_status.h>
#endif // CONFIG_FIGURE_OF_EIGHT
#include <uORB/uORB.h>
#ifdef CONFIG_FIGURE_OF_EIGHT
#include "figure_eight/FigureEight.hpp"
#endif // CONFIG_FIGURE_OF_EIGHT
using namespace launchdetection;
using namespace runwaytakeoff;
using namespace time_literals;
@@ -215,8 +220,10 @@ private:
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)};
uORB::Publication<launch_detection_status_s> _launch_detection_status_pub{ORB_ID(launch_detection_status)};
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
uORB::Publication<figure_eight_status_s> _figure_eight_status_pub{ORB_ID(figure_eight_status)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
#ifdef CONFIG_FIGURE_OF_EIGHT
uORB::Publication<figure_eight_status_s> _figure_eight_status_pub {ORB_ID(figure_eight_status)};
#endif // CONFIG_FIGURE_OF_EIGHT
uORB::Publication<landing_gear_s> _landing_gear_pub {ORB_ID(landing_gear)};
uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
@@ -274,8 +281,10 @@ private:
bool _landed{true};
#ifdef CONFIG_FIGURE_OF_EIGHT
/* Loitering */
FigureEight _figure_eight;
#endif // CONFIG_FIGURE_OF_EIGHT
// indicates whether the plane was in the air in the previous interation
bool _was_in_air{false};
@@ -590,6 +599,7 @@ private:
void control_auto_loiter(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
#ifdef CONFIG_FIGURE_OF_EIGHT
/**
* Vehicle control for the autonomous figure 8 mode.
*
@@ -601,6 +611,7 @@ private:
*/
void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
#endif // CONFIG_FIGURE_OF_EIGHT
/**
* @brief Controls a desired airspeed, bearing, and height rate.
@@ -718,7 +729,9 @@ private:
float airspeed_sp);
void publishOrbitStatus(const position_setpoint_s pos_sp);
#ifdef CONFIG_FIGURE_OF_EIGHT
void publishFigureEightStatus(const position_setpoint_s pos_sp);
#endif // CONFIG_FIGURE_OF_EIGHT
SlewRate<float> _airspeed_slew_rate_controller;