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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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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
-12
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@@ -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);
}
}