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FixedWingAttitudeControl: removed parachute from gimbal control group

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- parachute is handled separately based on flight termination in px4io

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-05-22 13:58:23 +03:00 committed by Daniel Agar
parent ade8a13203
commit bd154bf33c
2 changed files with 0 additions and 14 deletions
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12
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -378,14 +378,6 @@ void FixedwingAttitudeControl::Run()
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && ! _vehicle_status.in_transition_mode);
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
} else {
_actuators_airframe.control[7] = 0.0f;
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
perf_end(_loop_perf);
@ -642,16 +634,12 @@ void FixedwingAttitudeControl::Run()
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
_actuators_0_pub.publish(_actuators);
_actuators_2_pub.publish(_actuators_airframe);
}
}

2
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
View File

@ -109,13 +109,11 @@ private:
uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;
uORB::Publication<actuator_controls_s> _actuators_2_pub{ORB_ID(actuator_controls_2)}; /**< actuator control group 1 setpoint (Airframe) */
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
actuator_controls_s _actuators {}; /**< actuator control inputs */
actuator_controls_s _actuators_airframe {}; /**< actuator control inputs */
manual_control_setpoint_s _manual {}; /**< r/c channel data */
vehicle_attitude_s _att {}; /**< vehicle attitude setpoint */
vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */