From bd154bf33c33763e57820b5298ca3bcb767ac250 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Fri, 22 May 2020 13:58:23 +0300 Subject: [PATCH] FixedWingAttitudeControl: removed parachute from gimbal control group - parachute is handled separately based on flight termination in px4io Signed-off-by: RomanBapst --- .../fw_att_control/FixedwingAttitudeControl.cpp | 12 ------------ .../fw_att_control/FixedwingAttitudeControl.hpp | 2 -- 2 files changed, 14 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 137e6b1263..1d139c8c9f 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -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); } } diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index d150abffe8..95439400de 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -109,13 +109,11 @@ private: uORB::SubscriptionData _airspeed_validated_sub{ORB_ID(airspeed_validated)}; uORB::Publication _actuators_0_pub; - uORB::Publication _actuators_2_pub{ORB_ID(actuator_controls_2)}; /**< actuator control group 1 setpoint (Airframe) */ uORB::Publication _attitude_sp_pub; uORB::Publication _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)}; uORB::PublicationMulti _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 */