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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
2021-10-25 09:48:27 +02:00
committed by Silvan Fuhrer
parent 93eb0162e5
commit d84b0296d2
7 changed files with 135 additions and 39 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+5
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@@ -67,6 +67,7 @@
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed_validated.h>
@@ -87,6 +88,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/orbit_status.h>
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
@@ -156,6 +158,7 @@ private:
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
manual_control_setpoint_s _manual_control_setpoint {}; ///< r/c channel data
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items
@@ -349,6 +352,8 @@ private:
Vector2f get_nav_speed_2d(const Vector2f &ground_speed);
void set_control_mode_current(bool pos_sp_curr_valid);
void publishOrbitStatus(const position_setpoint_s pos_sp);
/*
* Call TECS : a wrapper function to call the TECS implementation
*/