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vtol remove unused vehicle_status

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This commit is contained in:
Daniel Agar
2016-09-27 08:49:45 +02:00
committed by Lorenz Meier
parent e27f396f55
commit 9fd0513be3
8 changed files with 78 additions and 96 deletions
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src/modules/vtol_att_control/standard.cpp
+26 -20
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@@ -202,6 +202,7 @@ void Standard::update_vtol_state()
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) ||
can_transition_on_ground()) {
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;
@@ -215,11 +216,11 @@ void Standard::update_vtol_state()
// map specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_mode = mode::ROTARY_WING;
break;
case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_mode = mode::FIXED_WING;
break;
case TRANSITION_TO_FW:
@@ -280,7 +281,6 @@ void Standard::update_transition_state()
_mc_yaw_weight = weight;
_mc_throttle_weight = weight;
} else {
// at low speeds give full weight to mc
_mc_roll_weight = 1.0f;
@@ -416,33 +416,39 @@ void Standard::update_fw_state()
*/
void Standard::fill_actuator_outputs()
{
/* multirotor controls */
// multirotor controls
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; // roll
// roll
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
// pitch
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight; // pitch
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight; // yaw
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
// yaw
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
// throttle
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight; // throttle
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
/* fixed wing controls */
// fixed wing controls
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight); //roll
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) * (1 - _mc_pitch_weight); //pitch
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = _actuators_fw_in->control[actuator_controls_s::INDEX_YAW]
* (1 - _mc_yaw_weight); // yaw
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
//roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight);
//pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) * (1 - _mc_pitch_weight);
// yaw
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * (1 - _mc_yaw_weight);
// set the fixed wing throttle control
if (_vtol_schedule.flight_mode == FW_MODE && _armed->armed) {
// take the throttle value commanded by the fw controller
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];