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simple NED acceleration control interface

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This commit is contained in:
Benoit Landry
2016-03-09 12:47:08 -08:00
committed by Lorenz Meier
parent 2dac97fe68
commit ce810542e2
3 changed files with 91 additions and 3 deletions
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src/modules/commander/commander.cpp
+10
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@@ -3196,6 +3196,7 @@ set_control_mode()
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_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3209,6 +3210,7 @@ set_control_mode()
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_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
/* override is not ok in stabilized mode */
control_mode.flag_external_manual_override_ok = false;
@@ -3224,6 +3226,7 @@ set_control_mode()
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_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3237,6 +3240,7 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3250,6 +3254,7 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3274,6 +3279,7 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3287,6 +3293,7 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3300,6 +3307,7 @@ set_control_mode()
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_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
@@ -3312,6 +3320,7 @@ set_control_mode()
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_termination_enabled = false;
@@ -3326,6 +3335,7 @@ set_control_mode()
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_termination_enabled = true;