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ThrowLaunch: move into separate class

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This commit is contained in:
Matthias Grob
2023-10-27 13:17:18 +02:00
parent 1a48f311ea
commit 9d455d5f1f
7 changed files with 238 additions and 87 deletions
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src/modules/commander/Commander.cpp
+6 -61
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@@ -1694,7 +1694,7 @@ void Commander::run()
safetyButtonUpdate();
throwLaunchUpdate();
_multicopter_throw_launch.update(isArmed());
vtolStatusUpdate();
@@ -1776,7 +1776,7 @@ void Commander::run()
_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
_actuator_armed.lockdown = ((_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION)
|| (_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| isThrowLaunchInProgress());
|| _multicopter_throw_launch.isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
@@ -2030,61 +2030,6 @@ void Commander::safetyButtonUpdate()
}
}
bool Commander::isThrowLaunchInProgress() const
{
return !(_throw_launch_state == ThrowLaunchState::DISABLED || _throw_launch_state == ThrowLaunchState::FLYING);
}
void Commander::throwLaunchUpdate()
{
if (_param_com_throw_en.get()) {
if (_vehicle_local_position_sub.updated()) {
_vehicle_local_position_sub.copy(&_vehicle_local_position);
}
if (!isArmed() && _throw_launch_state != ThrowLaunchState::IDLE) {
mavlink_log_info(&_mavlink_log_pub, "The vehicle is DISARMED with throw launch enabled. Do NOT throw it.\t");
_throw_launch_state = ThrowLaunchState::IDLE;
}
switch (_throw_launch_state) {
case ThrowLaunchState::IDLE:
if (isArmed()) {
mavlink_log_info(&_mavlink_log_pub, "The vehicle is ARMED with throw launch enabled. Throw the vehicle now.\t");
_throw_launch_state = ThrowLaunchState::ARMED;
}
break;
case ThrowLaunchState::ARMED:
if (matrix::Vector3f(
_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz
).longerThan(_param_com_throw_min_speed.get())) {
PX4_INFO("Minimum throw speed exceeded; the motors will start when the vehicle starts falling down.");
_throw_launch_state = ThrowLaunchState::UNSAFE;
}
break;
case ThrowLaunchState::UNSAFE:
if (_vehicle_local_position.vz > 0) {
PX4_INFO("Throw successful, starting motors.");
_throw_launch_state = ThrowLaunchState::FLYING;
}
break;
default:
break;
}
} else if (_throw_launch_state != ThrowLaunchState::DISABLED) {
// make sure everything is reset when the throw launch is disabled
_throw_launch_state = ThrowLaunchState::DISABLED;
}
}
void Commander::vtolStatusUpdate()
{
// Make sure that this is only adjusted if vehicle really is of type vtol
@@ -2143,7 +2088,7 @@ void Commander::updateTunes()
} else if (_vehicle_status.failsafe && isArmed()) {
tune_failsafe(true);
} else if (_throw_launch_state == ThrowLaunchState::ARMED) {
} else if (_multicopter_throw_launch.isReadyToThrow()) {
set_tune(tune_control_s::TUNE_ID_ARMING_WARNING);
} else {
@@ -2202,7 +2147,7 @@ void Commander::handleAutoDisarm()
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
}
if (_auto_disarm_landed.get_state() && !isThrowLaunchInProgress()) {
if (_auto_disarm_landed.get_state() && !_multicopter_throw_launch.isThrowLaunchInProgress()) {
if (_have_taken_off_since_arming) {
disarm(arm_disarm_reason_t::auto_disarm_land);
@@ -2222,7 +2167,7 @@ void Commander::handleAutoDisarm()
}
//don't disarm if throw launch is in progress
auto_disarm &= !isThrowLaunchInProgress();
auto_disarm &= !_multicopter_throw_launch.isThrowLaunchInProgress();
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
@@ -2362,7 +2307,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
led_mode = led_control_s::MODE_BLINK_FAST;
led_color = led_control_s::COLOR_PURPLE;
} else if (_throw_launch_state == ThrowLaunchState::ARMED) {
} else if (_multicopter_throw_launch.isReadyToThrow()) {
led_mode = led_control_s::MODE_BLINK_FAST;
led_color = led_control_s::COLOR_YELLOW;