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Disable pusher assist when descending

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This commit is contained in:
sanderux 2017-08-14 10:58:23 +02:00 committed by Lorenz Meier
parent 8f5293d7b0
commit e6c942033b
3 changed files with 31 additions and 0 deletions
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6
src/modules/vtol_att_control/standard.cpp
View File

@ -407,6 +407,12 @@ void Standard::update_mc_state()
return;
}
// disable pusher assist when descending
if (PX4_ISFINITE(_attc->get_local_pos_sp()->vz) && _attc->get_local_pos_sp()->vz > 0.5f) {
return;
}
matrix::Dcmf R(matrix::Quatf(_v_att->q));
matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d));
matrix::Eulerf euler(R);

20
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -76,6 +76,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_manual_control_sp_sub(-1),
_armed_sub(-1),
_local_pos_sub(-1),
_local_pos_sp_sub(-1),
_airspeed_sub(-1),
_battery_status_sub(-1),
_vehicle_cmd_sub(-1),
@ -109,6 +110,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
memset(&_armed, 0, sizeof(_armed));
memset(&_local_pos, 0, sizeof(_local_pos));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_airspeed, 0, sizeof(_airspeed));
memset(&_batt_status, 0, sizeof(_batt_status));
memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd));
@ -373,6 +375,22 @@ VtolAttitudeControl::vehicle_local_pos_poll()
}
/**
* Check for position setpoint updates.
*/
void
VtolAttitudeControl::vehicle_local_pos_sp_poll()
{
bool updated;
/* Check if parameters have changed */
orb_check(_local_pos_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_sub, &_local_pos_sp);
}
}
/**
* Check for mc virtual attitude setpoint updates.
*/
@ -650,6 +668,7 @@ void VtolAttitudeControl::task_main()
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
_vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@ -738,6 +757,7 @@ void VtolAttitudeControl::task_main()
vehicle_rates_sp_fw_poll();
parameters_update_poll();
vehicle_local_pos_poll(); // Check for new sensor values
vehicle_local_pos_sp_poll();
vehicle_airspeed_poll();
vehicle_battery_poll();
vehicle_cmd_poll();

5
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@ -77,6 +77,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/uORB.h>
@ -116,6 +117,7 @@ public:
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
struct actuator_armed_s *get_armed() {return &_armed;}
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
struct vehicle_local_position_setpoint_s *get_local_pos_sp() {return &_local_pos_sp;}
struct airspeed_s *get_airspeed() {return &_airspeed;}
struct battery_status_s *get_batt_status() {return &_batt_status;}
struct tecs_status_s *get_tecs_status() {return &_tecs_status;}
@ -142,6 +144,7 @@ private:
int _manual_control_sp_sub; //manual control setpoint subscription
int _armed_sub; //arming status subscription
int _local_pos_sub; // sensor subscription
int _local_pos_sp_sub; // local position setpoint subscription
int _airspeed_sub; // airspeed subscription
int _battery_status_sub; // battery status subscription
int _vehicle_cmd_sub;
@ -175,6 +178,7 @@ private:
struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s _armed; //actuator arming status
struct vehicle_local_position_s _local_pos;
struct vehicle_local_position_setpoint_s _local_pos_sp;
struct airspeed_s _airspeed; // airspeed
struct battery_status_s _batt_status; // battery status
struct vehicle_command_s _vehicle_cmd;
@ -226,6 +230,7 @@ private:
void vehicle_rates_sp_mc_poll();
void vehicle_rates_sp_fw_poll();
void vehicle_local_pos_poll(); // Check for changes in sensor values
void vehicle_local_pos_sp_poll(); // Check for changes in position setpoint values
void vehicle_airspeed_poll(); // Check for changes in airspeed
void vehicle_attitude_setpoint_poll(); //Check for attitude setpoint updates.
void vehicle_attitude_poll(); //Check for attitude updates.