fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 16:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed is_rotor_wing, replaced with vehicle_type

Browse Source
This commit is contained in:
Timothy Scott
2019-06-11 12:54:22 +02:00
committed by Julian Oes
parent 2ca40bfc65
commit a134da6e12
21 changed files with 150 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+42 -19
View File
@@ -431,7 +431,8 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "transition")) {
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
(float)(status.is_rotary_wing ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
(float)(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC));
return (ret ? 0 : 1);
@@ -1288,7 +1289,20 @@ Commander::run()
int32_t system_type;
param_get(_param_sys_type, &system_type); // get system type
status.system_type = (uint8_t)system_type;
status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
if (is_rotary_wing(&status) || is_vtol(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
} else if (is_fixed_wing(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground_rover(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
} else {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
}
status.is_vtol = is_vtol(&status);
commander_boot_timestamp = hrt_absolute_time();
@@ -1395,10 +1409,13 @@ Commander::run()
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
status.is_rotary_wing = true;
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
} else {
status.is_rotary_wing = false;
} else if (is_fixed_wing(&status) || is_vtol(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground_rover(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
}
/* set vehicle_status.is_vtol flag */
@@ -1621,8 +1638,10 @@ Commander::run()
if (is_vtol(&status)) {
// Check if there has been any change while updating the flags
if (status.is_rotary_wing != vtol_status.vtol_in_rw_mode) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
if ((status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) != vtol_status.vtol_in_rw_mode) {
status.vehicle_type = vtol_status.vtol_in_rw_mode ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
status_changed = true;
}
@@ -1641,8 +1660,8 @@ Commander::run()
status_changed = true;
}
if (armed.soft_stop != !status.is_rotary_wing) {
armed.soft_stop = !status.is_rotary_wing;
if (armed.soft_stop != (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
armed.soft_stop = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
status_changed = true;
}
}
@@ -1989,7 +2008,7 @@ Commander::run()
if (in_armed_state &&
status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.is_rotary_wing || (!status.is_rotary_wing && land_detector.landed)) &&
(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || land_detector.landed) &&
(stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) {
if (internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
@@ -2137,7 +2156,7 @@ Commander::run()
* only for fixed wing for now
*/
if (!status_flags.circuit_breaker_engaged_enginefailure_check &&
!status.is_rotary_wing && !status.is_vtol && armed.armed) {
status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !status.is_vtol && armed.armed) {
actuator_controls_s actuator_controls = {};
actuator_controls_sub.copy(&actuator_controls);
@@ -2924,10 +2943,10 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (status.is_rotary_wing && !status.is_vtol) {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !status.is_vtol) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, status_flags, &internal_state);
} else if (!status.is_rotary_wing) {
} else if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);
} else {
@@ -2937,7 +2956,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't need a
* rattitude mode.*/
if (status.is_rotary_wing) {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, status_flags, &internal_state);
} else {
@@ -3133,7 +3152,8 @@ set_control_mode()
{
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_external_manual_override_ok = (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
&& !status.is_vtol);
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {
@@ -3364,10 +3384,11 @@ set_control_mode()
bool
stabilization_required()
{
return (status.is_rotary_wing || // is a rotary wing, or
return (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || // is a rotary wing, or
status.vtol_fw_permanent_stab || // is a VTOL in fixed wing mode and stabilisation is on, or
(vtol_status.vtol_in_trans_mode && // is currently a VTOL transitioning AND
!status.is_rotary_wing)); // is a fixed wing, ie: transitioning back to rotary wing mode
status.vehicle_type ==
vehicle_status_s::VEHICLE_TYPE_FIXED_WING)); // is a fixed wing, ie: transitioning back to rotary wing mode
}
void
@@ -4034,9 +4055,11 @@ void Commander::airspeed_use_check()
_sensor_bias_sub.update();
const sensor_bias_s &sensors = _sensor_bias_sub.get();
bool is_fixed_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
// assume airspeed sensor is good before starting FW flight
bool valid_flight_condition = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) &&
!status.is_rotary_wing && !land_detector.landed;
is_fixed_wing && !land_detector.landed;
bool fault_declared = false;
bool fault_cleared = false;
bool bad_number_fail = !PX4_ISFINITE(airspeed.indicated_airspeed_m_s) || !PX4_ISFINITE(airspeed.true_airspeed_m_s);
@@ -4332,7 +4355,7 @@ void Commander::estimator_check(bool *status_changed)
* for a short time interval after takeoff. Fixed wing vehicles can recover using GPS heading,
* but rotary wing vehicles cannot so the position and velocity validity needs to be latched
* to false after failure to prevent flyaway crashes */
if (run_quality_checks && status.is_rotary_wing) {
if (run_quality_checks && status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
// reset flags and timer