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if vtol, publish virtual attitude setpoint

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Conflicts:
	src/modules/mc_pos_control/mc_pos_control_main.cpp
This commit is contained in:
tumbili
2015-11-25 13:28:22 +01:00
parent 932883e303
commit d1dc8ed432
3 changed files with 50 additions and 23 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+18 -4
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@@ -72,6 +72,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
@@ -166,6 +167,8 @@ private:
orb_advert_t _tecs_status_pub; /**< TECS status publication */
orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
orb_id_t _attitude_setpoint_id;
struct control_state_s _ctrl_state; /**< control state */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */
@@ -506,6 +509,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
_tecs_status_pub(nullptr),
_nav_capabilities_pub(nullptr),
/* publication ID */
_attitude_setpoint_id(0),
/* states */
_ctrl_state(),
_att_sp(),
@@ -766,6 +772,14 @@ FixedwingPositionControl::vehicle_status_poll()
if (updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (!_attitude_setpoint_id) {
if (_vehicle_status.is_vtol) {
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
} else {
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
}
}
}
@@ -1990,13 +2004,13 @@ FixedwingPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
} else if (_attitude_sp_pub == nullptr && !_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
/* XXX check if radius makes sense here */