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Removed is_rotor_wing, replaced with vehicle_type

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This commit is contained in:
Timothy Scott
2019-06-13 10:04:26 +02:00
committed by Julian Oes
parent 2ca40bfc65
commit a134da6e12
21 changed files with 150 additions and 85 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+12 -8
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@@ -262,7 +262,8 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
_vcontrol_mode_sub.update(&_vcontrol_mode);
if (_vehicle_status.is_vtol) {
const bool is_hovering = _vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode;
const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode;
const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
if (is_hovering || is_tailsitter_transition) {
@@ -276,10 +277,9 @@ void
FixedwingAttitudeControl::vehicle_manual_poll()
{
const bool is_tailsitter_transition = _is_tailsitter && _vehicle_status.in_transition_mode;
const bool is_fixed_wing = !_vehicle_status.is_rotary_wing;
const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
if (_manual_sub.copy(&_manual)) {
@@ -428,7 +428,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible
// this assumption is good as long as the vehicle is not hovering in a headwind which is much larger
// than the minimum airspeed
if (_vehicle_status.is_vtol && _vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
if (_vehicle_status.is_vtol && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode) {
airspeed = _parameters.airspeed_min;
}
}
@@ -560,7 +561,8 @@ void FixedwingAttitudeControl::run()
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled || _vehicle_status.is_rotary_wing;
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
|| _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
@@ -571,7 +573,7 @@ void FixedwingAttitudeControl::run()
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) {
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
continue;
}
@@ -608,7 +610,8 @@ void FixedwingAttitudeControl::run()
* or a multicopter (but not transitioning VTOL)
*/
if (_landed
|| (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
@@ -637,7 +640,8 @@ void FixedwingAttitudeControl::run()
/* reset body angular rate limits on mode change */
if ((_vcontrol_mode.flag_control_attitude_enabled != _flag_control_attitude_enabled_last) || params_updated) {
if (_vcontrol_mode.flag_control_attitude_enabled || _vehicle_status.is_rotary_wing) {
if (_vcontrol_mode.flag_control_attitude_enabled
|| _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));