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Added commander support for rattitude mode. Still need to incorporate attitude/rate switching in multicopter control

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This commit is contained in:
Eddy Scott
2015-10-28 08:37:12 -04:00
committed by Eddy
parent 8ba0c003db
commit c4a82d78c8
7 changed files with 96 additions and 14 deletions
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msg/manual_control_setpoint.msg
+1
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@@ -38,6 +38,7 @@ float32 aux5 # default function: payload drop
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
msg/rc_channels.msg
+4 -3
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@@ -1,4 +1,4 @@
int32 RC_CHANNELS_FUNCTION_MAX=19
int32 RC_CHANNELS_FUNCTION_MAX=20
uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -18,10 +18,11 @@ uint8 RC_CHANNELS_FUNCTION_AUX_5=15
uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint64 timestamp # Timestamp in microseconds since boot time
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[19] channels # Scaled to -1..1 (throttle: 0..1)
float32[20] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[19] function # Functions mapping
int8[20] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
msg/vehicle_status.msg
+4 -2
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@@ -8,7 +8,8 @@ uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
uint8 MAIN_STATE_MAX = 9
uint8 MAIN_STATE_RATTITUDE = 9
uint8 MAIN_STATE_MAX = 10
# If you change the order, add or remove arming_state_t states make sure to update the arrays
# in state_machine_helper.cpp as well.
@@ -41,7 +42,8 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_MAX = 16
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_MAX = 17
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128