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vehicle constraints: remove landing gear

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- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
This commit is contained in:
Simone Guscetti
2018-12-10 16:17:23 +01:00
committed by Dennis Mannhart
parent 6dbed6636d
commit de185726b3
7 changed files with 24 additions and 27 deletions
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src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+4 -4
View File
@@ -89,7 +89,7 @@ bool FlightTaskAutoMapper::update()
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
// update previous type
@@ -121,7 +121,7 @@ void FlightTaskAutoMapper::_generateLandSetpoints()
// set constraints
_constraints.tilt = MPC_TILTMAX_LND.get();
_constraints.speed_down = MPC_LAND_SPEED.get();
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper::_generateTakeoffSetpoints()
@@ -134,7 +134,7 @@ void FlightTaskAutoMapper::_generateTakeoffSetpoints()
_constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(),
MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up);
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper::_generateVelocitySetpoints()
@@ -173,4 +173,4 @@ bool FlightTaskAutoMapper::_highEnoughForLandingGear()
{
// return true if altitude is above two meters
return _alt_above_ground > 2.0f;
}
}
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
+3 -3
View File
@@ -96,7 +96,7 @@ bool FlightTaskAutoMapper2::update()
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
// update previous type
@@ -129,7 +129,7 @@ void FlightTaskAutoMapper2::_prepareLandSetpoints()
// set constraints
_constraints.tilt = MPC_TILTMAX_LND.get();
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper2::_prepareTakeoffSetpoints()
@@ -139,7 +139,7 @@ void FlightTaskAutoMapper2::_prepareTakeoffSetpoints()
const float speed_tko = (_alt_above_ground > MPC_LAND_ALT1.get()) ? _constraints.speed_up : MPC_TKO_SPEED.get();
_velocity_setpoint = Vector3f(NAN, NAN, -speed_tko); // Limit the maximum vertical speed
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper2::_prepareVelocitySetpoints()
src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp
+4 -4
View File
@@ -91,7 +91,7 @@ bool FlightTaskManual::_evaluateSticks()
// until he toggles the switch to avoid retracting the gear immediately on takeoff.
int8_t gear_switch = _sub_manual_control_setpoint->get().gear_switch;
if (!_constraints.landing_gear) {
if (!_gear.landing_gear) {
if (gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
_applyGearSwitch(gear_switch);
}
@@ -112,7 +112,7 @@ bool FlightTaskManual::_evaluateSticks()
/* Timeout: set all sticks to zero */
_sticks.zero();
_sticks_expo.zero();
_constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
_gear.landing_gear = landing_gear_s::GEAR_KEEP;
return false;
}
}
@@ -120,10 +120,10 @@ bool FlightTaskManual::_evaluateSticks()
void FlightTaskManual::_applyGearSwitch(uint8_t gswitch)
{
if (gswitch == manual_control_setpoint_s::SWITCH_POS_OFF) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
if (gswitch == manual_control_setpoint_s::SWITCH_POS_ON) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
}