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Take out control_auto_velocity as a mode

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This commit is contained in:
Jaeyoung-Lim
2024-09-17 15:09:28 +02:00
parent 2fd4150b38
commit bf430a65b7
2 changed files with 11 additions and 8 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+10 -8
View File
@@ -687,6 +687,11 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
_skipping_takeoff_detection = false;
if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) {
_control_mode_current = FW_POSCTRL_MODE_AUTO_VELOCITY;
return;
}
if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid
&& _control_mode.flag_control_position_enabled) {
if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy)
@@ -892,10 +897,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
control_auto_position(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp);
break;
case position_setpoint_s::SETPOINT_TYPE_VELOCITY:
control_auto_velocity(control_interval, curr_pos, ground_speed, current_sp);
break;
case position_setpoint_s::SETPOINT_TYPE_LOITER:
#ifdef CONFIG_FIGURE_OF_EIGHT
if (current_sp.loiter_pattern == position_setpoint_s::LOITER_TYPE_FIGUREEIGHT) {
@@ -1003,10 +1004,6 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
{
uint8_t position_sp_type = pos_sp_curr.type;
if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) {
return position_setpoint_s::SETPOINT_TYPE_VELOCITY;
}
Vector2d curr_wp{0, 0};
/* current waypoint (the one currently heading for) */
@@ -2594,6 +2591,11 @@ FixedwingPositionControl::Run()
break;
}
case FW_POSCTRL_MODE_AUTO_VELOCITY: {
control_auto_velocity(control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
break;
}
case FW_POSCTRL_MODE_AUTO_ALTITUDE: {
control_auto_fixed_bank_alt_hold(control_interval);
break;
src/modules/fw_pos_control/FixedwingPositionControl.hpp
+1
View File
@@ -255,6 +255,7 @@ private:
FW_POSCTRL_MODE_AUTO_TAKEOFF,
FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
FW_POSCTRL_MODE_AUTO_VELOCITY,
FW_POSCTRL_MODE_AUTO_PATH,
FW_POSCTRL_MODE_MANUAL_POSITION,
FW_POSCTRL_MODE_MANUAL_ALTITUDE,