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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
2015-10-20 20:38:42 -04:00
committed by Eddy
parent 8ba0c003db
commit c4a82d78c8
7 changed files with 96 additions and 14 deletions
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src/modules/commander/commander.cpp
+38 -9
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@@ -246,6 +246,9 @@ void print_reject_arm(const char *msg);
void print_status();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status,
struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
/**
@@ -941,6 +944,7 @@ int commander_thread_main(int argc, char *argv[])
const char *nav_states_str[vehicle_status_s::NAVIGATION_STATE_MAX];
nav_states_str[vehicle_status_s::NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_STAB] = "STAB";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_RATTITUDE] = "RATTITUDE";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
@@ -1978,13 +1982,14 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = false;
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
/* check if left stick is in lower left position and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
(status.main_state == vehicle_status_s::MAIN_STATE_MANUAL ||
status.main_state == vehicle_status_s::MAIN_STATE_ACRO ||
status.main_state == vehicle_status_s::MAIN_STATE_STAB ||
status.main_state == vehicle_status_s::MAIN_STATE_RATTITUDE ||
status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
@@ -2196,6 +2201,7 @@ int commander_thread_main(int argc, char *argv[])
* and both failed we want to terminate the flight */
if (status.main_state !=vehicle_status_s::MAIN_STATE_MANUAL &&
status.main_state !=vehicle_status_s::MAIN_STATE_ACRO &&
status.main_state !=vehicle_status_s::MAIN_STATE_RATTITUDE &&
status.main_state !=vehicle_status_s::MAIN_STATE_STAB &&
status.main_state !=vehicle_status_s::MAIN_STATE_ALTCTL &&
status.main_state !=vehicle_status_s::MAIN_STATE_POSCTL &&
@@ -2220,6 +2226,7 @@ int commander_thread_main(int argc, char *argv[])
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((status.main_state ==vehicle_status_s::MAIN_STATE_ACRO ||
status.main_state ==vehicle_status_s::MAIN_STATE_RATTITUDE ||
status.main_state ==vehicle_status_s::MAIN_STATE_MANUAL ||
status.main_state !=vehicle_status_s::MAIN_STATE_STAB ||
status.main_state ==vehicle_status_s::MAIN_STATE_ALTCTL ||
@@ -2513,13 +2520,14 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
}
/* manual setpoint has not updated, do not re-evaluate it */
if ((_last_sp_man.timestamp == sp_man->timestamp) ||
((_last_sp_man.offboard_switch == sp_man->offboard_switch) &&
(_last_sp_man.return_switch == sp_man->return_switch) &&
(_last_sp_man.mode_switch == sp_man->mode_switch) &&
(_last_sp_man.acro_switch == sp_man->acro_switch) &&
(_last_sp_man.posctl_switch == sp_man->posctl_switch) &&
(_last_sp_man.loiter_switch == sp_man->loiter_switch))) {
if ((last_manual_input == sp_man->timestamp) ||
((last_offboard_switch == sp_man->offboard_switch) &&
(last_return_switch == sp_man->return_switch) &&
(last_mode_switch == sp_man->mode_switch) &&
(last_acro_switch == sp_man->acro_switch) &&
(last_rattitude_switch == sp_man->rattitude_switch) &&
(last_posctl_switch == sp_man->posctl_switch) &&
(last_loiter_switch == sp_man->loiter_switch))) {
// update these fields for the geofence system
_last_sp_man.timestamp = sp_man->timestamp;
@@ -2585,7 +2593,16 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_STAB);
}
} else {
}
if(sp_man->rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON){
/* Similar to acro transitions for multirotors. FW aircraft don't need a
* rattitude mode.*/
if (status.is_rotary_wing) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_RATTITUDE);
} else {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_STAB);
}
}else {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_MANUAL);
}
@@ -2708,6 +2725,18 @@ set_control_mode()
control_mode.flag_external_manual_override_ok = false;
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;