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Commander: add position slow mode

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This commit is contained in:
Matthias Grob
2023-09-19 17:53:45 +02:00
parent dbbf585adb
commit ef0926d64b
11 changed files with 50 additions and 22 deletions
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src/modules/commander/ModeUtil/control_mode.cpp
+1
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@@ -72,6 +72,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
src/modules/commander/ModeUtil/conversions.hpp
+3 -1
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@@ -58,6 +58,8 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state)
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return navigation_mode_t::auto_rtl;
case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW: return navigation_mode_t::position_slow;
case vehicle_status_s::NAVIGATION_STATE_ACRO: return navigation_mode_t::acro;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: return navigation_mode_t::offboard;
@@ -93,7 +95,7 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state)
case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8: return navigation_mode_t::external8;
}
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "code requires update");
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update navigation mode map");
return navigation_mode_t::unknown;
}
src/modules/commander/ModeUtil/mode_requirements.cpp
+8
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@@ -75,8 +75,16 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_manual_control);
// NAVIGATION_STATE_POSITION_SLOW
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_position_relaxed);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_manual_control);
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_global_position);
}
// NAVIGATION_STATE_AUTO_MISSION