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
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src/modules/mc_att_control/mc_att_control.cpp
+3 -14
View File
@@ -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
View File
@@ -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 {