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is_vtol flag in vehicle_status

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Getting rid of the autostart based checks if the system is a vtol
Fixes #1503
This commit is contained in:
Thomas Gubler
2014-12-18 14:46:31 +01:00
parent 6e874bed50
commit e18065081a
4 changed files with 40 additions and 33 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+17 -15
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@@ -338,6 +338,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
@@ -400,15 +403,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
@@ -600,6 +594,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
if (vehicle_status_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 (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
@@ -700,11 +702,11 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_parameters.autostart_id >= 13000
&& _parameters.autostart_id <= 13999) { //vehicle type is VTOL, need to modify attitude!
/* The following modification to the attitude is vehicle specific and in this case applies
to tail-sitter models !!!
if (_vehicle_status.is_vtol) {
/* vehicle type is VTOL, need to modify attitude!
* The following modification to the attitude is vehicle specific and in this case applies
* to tail-sitter models !!!
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
@@ -849,7 +851,7 @@ FixedwingAttitudeControl::task_main()
_yaw_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/*
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)