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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
2015-09-07 09:21:24 +02:00
parent 932883e303
commit d1dc8ed432
3 changed files with 50 additions and 23 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+21 -10
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@@ -69,6 +69,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/mc_virtual_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
@@ -141,6 +142,8 @@ private:
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
orb_id_t _attitude_setpoint_id;
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct control_state_s _ctrl_state; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
@@ -336,6 +339,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_attitude_setpoint_id(0),
_manual_thr_min(this, "MANTHR_MIN"),
_manual_thr_max(this, "MANTHR_MAX"),
_vel_x_deriv(this, "VELD"),
@@ -533,6 +537,14 @@ MulticopterPositionControl::poll_subscriptions()
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(mc_virtual_attitude_setpoint);
} else {
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
}
}
orb_check(_ctrl_state_sub, &updated);
@@ -1183,10 +1195,9 @@ MulticopterPositionControl::task_main()
/* publish attitude setpoint */
if (_att_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
_att_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
} else {
@@ -1615,13 +1626,13 @@ MulticopterPositionControl::task_main()
* attitude setpoints for the transition).
*/
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub != nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
} else if (_att_sp_pub == nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
if (_att_sp_pub != nullptr) {
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
_att_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
}