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Set tailsitter flag via vehicle status

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Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 10:01:04 +02:00
parent 7292ce483c
commit d8444df11c
6 changed files with 9 additions and 37 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+6 -17
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@@ -33,8 +33,6 @@
#include "FixedwingAttitudeControl.hpp"
#include <vtol_att_control/vtol_type.h>
using namespace time_literals;
using math::constrain;
using math::gradual;
@@ -48,15 +46,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
// check if VTOL first
if (vtol) {
int32_t vt_type = -1;
if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}
}
/* fetch initial parameter values */
parameters_update();
@@ -128,7 +117,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
if (_vehicle_status.is_vtol) {
const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode;
const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _vehicle_status.is_vtol_tailsitter;
if (is_hovering || is_tailsitter_transition) {
_vcontrol_mode.flag_control_attitude_enabled = false;
@@ -140,7 +129,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
void
FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
{
const bool is_tailsitter_transition = _is_tailsitter && _vehicle_status.in_transition_mode;
const bool is_tailsitter_transition = _vehicle_status.is_vtol_tailsitter && _vehicle_status.in_transition_mode;
const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
@@ -212,7 +201,7 @@ void
FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
{
if (_rates_sp_sub.update(&_rates_sp)) {
if (_is_tailsitter) {
if (_vehicle_status.is_vtol_tailsitter) {
float tmp = _rates_sp.roll;
_rates_sp.roll = -_rates_sp.yaw;
_rates_sp.yaw = tmp;
@@ -311,7 +300,7 @@ void FixedwingAttitudeControl::Run()
float pitchspeed = angular_velocity.xyz[1];
float yawspeed = angular_velocity.xyz[2];
if (_is_tailsitter) {
if (_vehicle_status.is_vtol_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
@@ -379,7 +368,7 @@ void FixedwingAttitudeControl::Run()
// lock integrator if no rate control enabled, or in RW mode (but not transitioning VTOL or tailsitter), or for long intervals (> 20 ms)
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_vehicle_status.in_transition_mode && !_is_tailsitter)
!_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)
|| (dt > 0.02f);
/* if we are in rotary wing mode, do nothing */
@@ -417,7 +406,7 @@ void FixedwingAttitudeControl::Run()
*/
if (_landed
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode && !_is_tailsitter)) {
&& !_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();