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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/mc_att_control/mc_att_control_main.cpp
+5 -3
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@@ -69,7 +69,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_sensor_gyro_sub[i] = -1;
}
_vehicle_status.is_rotary_wing = true;
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
/* initialize quaternions in messages to be valid */
_v_att.q[0] = 1.f;
@@ -400,7 +400,7 @@ void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_v_control_mode.flag_armed || !_vehicle_status.is_rotary_wing) {
if (!_v_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_rates_int.zero();
}
@@ -644,7 +644,8 @@ MulticopterAttitudeControl::run()
bool attitude_setpoint_generated = false;
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;
// vehicle is a tailsitter in transition mode
const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
@@ -678,6 +679,7 @@ MulticopterAttitudeControl::run()
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled && is_hovering) {
if (manual_control_updated) {
/* manual rates control - ACRO mode */
Vector3f man_rate_sp(