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Introduced new actuator_safety topic

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This commit is contained in:
Julian Oes
2013-06-14 13:53:26 +02:00
parent 236053a600
commit 90f5e30f2a
22 changed files with 424 additions and 193 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+16 -5
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@@ -58,6 +58,7 @@
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -84,13 +85,16 @@ static bool motor_test_mode = false;
static orb_advert_t actuator_pub;
static struct vehicle_status_s state;
static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct actuator_safety_s safety;
memset(&safety, 0, sizeof(safety));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
@@ -113,6 +117,7 @@ mc_thread_main(int argc, char *argv[])
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -150,7 +155,7 @@ mc_thread_main(int argc, char *argv[])
/* store last control mode to detect mode switches */
bool flag_control_manual_enabled = false;
bool flag_control_attitude_enabled = false;
bool flag_fmu_armed = false;
bool flag_armed = false;
bool flag_control_position_enabled = false;
bool flag_control_velocity_enabled = false;
@@ -200,6 +205,12 @@ mc_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
}
orb_check(safety_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
}
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
@@ -248,7 +259,7 @@ mc_thread_main(int argc, char *argv[])
/* initialize to current yaw if switching to manual or att control */
if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
state.flag_control_manual_enabled != flag_control_manual_enabled ||
state.flag_fmu_armed != flag_fmu_armed) {
safety.armed != flag_armed) {
att_sp.yaw_body = att.yaw;
}
@@ -292,7 +303,7 @@ mc_thread_main(int argc, char *argv[])
att_sp.pitch_body = manual.pitch;
/* set attitude if arming */
if (!flag_control_attitude_enabled && state.flag_fmu_armed) {
if (!flag_control_attitude_enabled && safety.armed) {
att_sp.yaw_body = att.yaw;
}
@@ -399,7 +410,7 @@ mc_thread_main(int argc, char *argv[])
flag_control_manual_enabled = state.flag_control_manual_enabled;
flag_control_position_enabled = state.flag_control_position_enabled;
flag_control_velocity_enabled = state.flag_control_velocity_enabled;
flag_fmu_armed = state.flag_fmu_armed;
flag_armed = safety.armed;
perf_end(mc_loop_perf);
} /* end of poll call for attitude updates */