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delete RATTITUDE flight mode

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This commit is contained in:
Daniel Agar
2021-03-03 19:27:56 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
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src/modules/commander/Commander.cpp
+2 -31
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -321,9 +321,6 @@ int Commander::custom_command(int argc, char *argv[])
} else if (!strcmp(argv[1], "stabilized")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
} else if (!strcmp(argv[1], "rattitude")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_RATTITUDE);
} else if (!strcmp(argv[1], "auto:takeoff")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
@@ -664,10 +661,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
/* ACRO */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
/* RATTITUDE */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
/* STABILIZED */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
@@ -2790,7 +2783,6 @@ Commander::set_main_state_rc()
|| (_last_manual_control_switches.return_switch != _manual_control_switches.return_switch)
|| (_last_manual_control_switches.mode_switch != _manual_control_switches.mode_switch)
|| (_last_manual_control_switches.acro_switch != _manual_control_switches.acro_switch)
|| (_last_manual_control_switches.rattitude_switch != _manual_control_switches.rattitude_switch)
|| (_last_manual_control_switches.posctl_switch != _manual_control_switches.posctl_switch)
|| (_last_manual_control_switches.loiter_switch != _manual_control_switches.loiter_switch)
|| (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot)
@@ -3044,16 +3036,6 @@ Commander::set_main_state_rc()
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
}
} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't need a
* rattitude mode.*/
if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
}
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
}
@@ -3069,9 +3051,6 @@ Commander::set_main_state_rc()
} else if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
@@ -3251,13 +3230,6 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_attitude_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_rattitude_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
@@ -3360,7 +3332,6 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_auto_enabled = false;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_rattitude_enabled = false;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
@@ -4059,7 +4030,7 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);