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mc stabilized mode: move from mc_pos_control to mc_att_control

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- better in terms of dependencies:
  - the position controller code depended on position topics for yaw
  - mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
  especially important since Stabilized is often used as a fail-safe flight
  mode.
This commit is contained in:
Beat Küng
2018-11-13 09:30:18 +01:00
parent f31f63fff7
commit ca7acae904
11 changed files with 297 additions and 345 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-19
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@@ -1003,25 +1003,6 @@ MulticopterPositionControl::start_flight_task()
}
}
// manual stabilized control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_STAB || task_failure) {
should_disable_task = false;
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualStabilized);
if (error != 0) {
if (prev_failure_count == 0) {
PX4_WARN("Stabilized-Ctrl failed with error: %s", _flight_tasks.errorToString(error));
}
task_failure = true;
_task_failure_count++;
} else {
check_failure(task_failure, vehicle_status_s::NAVIGATION_STATE_STAB);
task_failure = false;
}
}
// check task failure
if (task_failure) {