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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+6 -7
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@@ -69,7 +69,7 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID");
_params_handles_tiltrotor.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles_tiltrotor.airspeed_disabled = param_find("FW_ARSP_MODE");
_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
}
@@ -89,7 +89,6 @@ Tiltrotor::parameters_update()
param_get(_params_handles_tiltrotor.fw_motors_off, &l);
_params_tiltrotor.fw_motors_off = get_motor_off_channels(l);
/* vtol duration of a front transition */
param_get(_params_handles_tiltrotor.front_trans_dur, &v);
_params_tiltrotor.front_trans_dur = math::constrain(v, 1.0f, 5.0f);
@@ -134,8 +133,8 @@ Tiltrotor::parameters_update()
}
/* airspeed mode */
param_get(_params_handles_tiltrotor.airspeed_mode, &l);
_params_tiltrotor.airspeed_mode = math::constrain(l, 0, 2);
param_get(_params_handles_tiltrotor.airspeed_disabled, &l);
_params_tiltrotor.airspeed_disabled = math::constrain(l, 0, 1);
param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
@@ -219,12 +218,12 @@ void Tiltrotor::update_vtol_state()
bool transition_to_p2 = can_transition_on_ground();
// check if we have reached airspeed to switch to fw mode
transition_to_p2 |= _params_tiltrotor.airspeed_mode != control_state_s::AIRSPD_MODE_DISABLED &&
transition_to_p2 |= !_params_tiltrotor.airspeed_disabled &&
_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_min * 1e6f);
// check if airspeed is invalid and transition by time
transition_to_p2 |= _params_tiltrotor.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED &&
transition_to_p2 |= _params_tiltrotor.airspeed_disabled &&
_tilt_control > _params_tiltrotor.tilt_transition &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_openloop * 1e6f);
@@ -334,7 +333,7 @@ void Tiltrotor::update_transition_state()
&_vtol_schedule.transition_start) / (_params_tiltrotor.front_trans_dur * 1000000.0f);
}
bool use_airspeed = _params_tiltrotor.airspeed_mode != control_state_s::AIRSPD_MODE_DISABLED;
bool use_airspeed = !_params_tiltrotor.airspeed_disabled;
// at low speeds give full weight to MC
_mc_roll_weight = 1.0f;