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support orbit command in fixed wing mode

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Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander: support orbit mode for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FwPositionControl: publish orbit status

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander:reject orbit mode while doing a vtol transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FixedWingPositionControl: explicitly cast waypoint for Orbit status

FixedwingPositionControl: fill missing orbit_status fields

navigator_main: handle reposition/orbit corner cases

- set orbit rotation direction correctly
- send mavlink message when orbit is rejected

FixedWingPositionControl: correctly report rotation direction in orbit_status

navigator: hack to not break orbit while doing altitude changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

navigator: set cruise throttle for orbit command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-11-25 18:11:03 +03:00
committed by Silvan Fuhrer
parent 93eb0162e5
commit d84b0296d2
7 changed files with 135 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+18 -3
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@@ -1211,13 +1211,28 @@ Commander::handle_command(const vehicle_command_s &cmd)
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_ORBIT, _status_flags,
_internal_state)) {
transition_result_t main_ret;
if (_status.in_transition_mode) {
main_ret = TRANSITION_DENIED;
} else if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
// for fixed wings the behavior of orbit is the same as loiter
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER,
_status_flags, _internal_state);
} else {
// Switch to orbit state and let the orbit task handle the command further
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ORBIT, _status_flags,
_internal_state);
}
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Orbit command rejected");
}
break;