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Switch assignment: added manual and stabilized switch for a default stabilized switch scheme, let FW go into Acro

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Andreas Antener
2017-02-07 18:11:36 +01:00
committed by Andreas Daniel Antener
parent 21f5219bbc
commit a5f3f65c2b
8 changed files with 199 additions and 24 deletions
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src/modules/commander/commander.cpp
+61 -18
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@@ -3321,7 +3321,9 @@ set_main_state_rc(struct vehicle_status_s *status_local)
(_last_sp_man.rattitude_switch == sp_man.rattitude_switch) &&
(_last_sp_man.posctl_switch == sp_man.posctl_switch) &&
(_last_sp_man.loiter_switch == sp_man.loiter_switch) &&
(_last_sp_man.mode_slot == sp_man.mode_slot)))) {
(_last_sp_man.mode_slot == sp_man.mode_slot) &&
(_last_sp_man.stab_switch == sp_man.stab_switch) &&
(_last_sp_man.man_switch == sp_man.man_switch)))) {
// update these fields for the geofence system
@@ -3519,31 +3521,72 @@ set_main_state_rc(struct vehicle_status_s *status_local)
break;
case manual_control_setpoint_s::SWITCH_POS_OFF: // MANUAL
if (sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
if (sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_NONE &&
sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
/*
* Legacy mode:
* Acro switch being used as stabilized switch in FW.
*/
// XXX: put ACRO and STAB on separate switches
if (status.is_rotary_wing && !status.is_vtol) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, main_state_prev, &status_flags, &internal_state);
} else if (!status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
if (sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (status.is_rotary_wing && !status.is_vtol) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, main_state_prev, &status_flags, &internal_state);
} else if (!status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
}
} 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) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
}
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
}
}
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) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else {
/* New mode:
* - Acro is Acro
* - Manual is not default anymore when the manaul switch is assigned
*/
if (sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
} else if (sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, main_state_prev, &status_flags, &internal_state);
} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't have a
* rattitude mode.*/
if (status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
}
} else if (sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
} else if (sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
// default to MANUAL when no manual switch is set
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
} else {
// default to STAB when the manual switch is assigned (but off)
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
}
}else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
}
// TRANSITION_DENIED is not possible here