fly316/PX4-Autopilot
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Merge remote-tracking branch 'upstream/isvtol' into dev_ros

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Conflicts:
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
This commit is contained in:
Thomas Gubler
2014-12-25 09:59:58 +01:00
parent 25af4b266c d8eefa3053
commit b376316fb1
5 changed files with 30 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_status.msg
+2 -1
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@@ -94,7 +94,8 @@ int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum
int32 system_id # system id, inspired by MAVLink's system ID field
int32 component_id # subsystem / component id, inspired by MAVLink's component ID field
bool is_rotary_wing
bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
bool is_vtol # True if the system is VTOL capable
bool condition_battery_voltage_valid
bool condition_system_in_air_restore # true if we can restore in mid air
src/modules/commander/commander.cpp
+9 -8
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@@ -1098,6 +1098,10 @@ int commander_thread_main(int argc, char *argv[])
status.is_rotary_wing = false;
}
/* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
@@ -1119,6 +1123,8 @@ int commander_thread_main(int argc, char *argv[])
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
/* Safety parameters */
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
@@ -1127,6 +1133,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
/* Autostart id */
param_get(_param_autostart_id, &autostart_id);
}
@@ -2230,14 +2238,7 @@ set_control_mode()
{
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
/* TODO: check this */
if (autostart_id < 13000 || autostart_id >= 14000) {
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
} else {
control_mode.flag_external_manual_override_ok = false;
}
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
src/modules/fw_att_control/fw_att_control_main.cpp
+16 -21
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@@ -195,8 +195,6 @@ private:
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
param_t autostart_id; /* indicates which airframe is used */
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -237,7 +235,6 @@ private:
param_t man_roll_max;
param_t man_pitch_max;
param_t autostart_id; /* indicates which airframe is used */
} _parameter_handles; /**< handles for interesting parameters */
@@ -339,6 +336,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
@@ -397,19 +397,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.autostart_id = param_find("SYS_AUTOSTART");
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
@@ -484,8 +473,6 @@ FixedwingAttitudeControl::parameters_update()
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.autostart_id, &_parameters.autostart_id);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -601,6 +588,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
@@ -701,11 +696,11 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_parameters.autostart_id >= 13000
&& _parameters.autostart_id <= 13999) { //vehicle type is VTOL, need to modify attitude!
/* The following modification to the attitude is vehicle specific and in this case applies
to tail-sitter models !!!
if (_vehicle_status.is_vtol) {
/* vehicle type is VTOL, need to modify attitude!
* The following modification to the attitude is vehicle specific and in this case applies
* to tail-sitter models !!!
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
src/modules/mc_att_control/mc_att_control.cpp
+3 -14
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@@ -97,17 +97,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX);
_params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX);
_params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX);
_params_handles.autostart_id = PX4_PARAM_INIT(SYS_AUTOSTART);
/* fetch initial parameter values */
parameters_update();
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/
_is_vtol = true;
}
else {
_is_vtol = false;
}
/*
* do subscriptions
@@ -235,7 +224,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
if (_v_rates_sp_pub != nullptr) {
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_is_vtol) {
if (_v_status->get()._is_vtol) {
_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
@@ -264,7 +253,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
_v_rates_sp_pub->publish(_v_rates_sp_mod);
} else {
if (_is_vtol) {
if (_v_status->get()._is_vtol) {
_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
} else {
_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
@@ -295,7 +284,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
_actuators_0_pub->publish(_actuators);
} else {
if (_is_vtol) {
if (_v_status()->get()._is_vtol) {
_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_virtual_mc);
} else {
_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_0);
src/modules/mc_att_control/mc_att_control.h
-2
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@@ -93,8 +93,6 @@ private:
px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */
px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */
bool _is_vtol; /**< true if vehicle is vtol, to be replaced with global API */
px4::NodeHandle _n;
struct {