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OFFBOARD mode support in commander, mavlink, mc_att_control, WIP

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This commit is contained in:
Anton Babushkin
2014-01-22 19:25:14 +01:00
parent 37e28e7fa8
commit f069fe9f61
5 changed files with 110 additions and 74 deletions
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src/modules/navigator/navigator_main.cpp
+15 -1
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@@ -1463,11 +1463,11 @@ Navigator::publish_control_mode()
_control_mode.flag_external_manual_override_ok = !_vstatus.is_rotary_wing;
_control_mode.flag_system_hil_enabled = _vstatus.hil_state == HIL_STATE_ON;
_control_mode.flag_control_offboard_enabled = false;
_control_mode.flag_control_flighttermination_enabled = false;
switch (_vstatus.main_state) {
case MAIN_STATE_MANUAL:
_control_mode.flag_control_offboard_enabled = false;
_control_mode.flag_control_manual_enabled = true;
_control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing;
_control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing;
@@ -1478,6 +1478,7 @@ Navigator::publish_control_mode()
break;
case MAIN_STATE_SEATBELT:
_control_mode.flag_control_offboard_enabled = false;
_control_mode.flag_control_manual_enabled = true;
_control_mode.flag_control_rates_enabled = true;
_control_mode.flag_control_attitude_enabled = true;
@@ -1488,6 +1489,7 @@ Navigator::publish_control_mode()
break;
case MAIN_STATE_EASY:
_control_mode.flag_control_offboard_enabled = false;
_control_mode.flag_control_manual_enabled = true;
_control_mode.flag_control_rates_enabled = true;
_control_mode.flag_control_attitude_enabled = true;
@@ -1498,6 +1500,7 @@ Navigator::publish_control_mode()
break;
case MAIN_STATE_AUTO:
_control_mode.flag_control_offboard_enabled = false;
_control_mode.flag_control_manual_enabled = false;
if (myState == NAV_STATE_READY) {
/* disable all controllers, armed but idle */
@@ -1517,6 +1520,17 @@ Navigator::publish_control_mode()
}
break;
case MAIN_STATE_OFFBOARD:
_control_mode.flag_control_offboard_enabled = true;
_control_mode.flag_control_manual_enabled = false;
_control_mode.flag_control_rates_enabled = false;
_control_mode.flag_control_attitude_enabled = false;
_control_mode.flag_control_altitude_enabled = false;
_control_mode.flag_control_climb_rate_enabled = false;
_control_mode.flag_control_position_enabled = false;
_control_mode.flag_control_velocity_enabled = false;
break;
default:
break;
}