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[add] Decoupling boat and rover in the commander module

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This commit is contained in:
Tomas Twardzik
2025-01-14 11:49:29 +01:00
parent 98cba19f50
commit f72845e0c1
4 changed files with 19 additions and 2 deletions
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msg/versioned/VehicleStatus.msg
+1
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@@ -94,6 +94,7 @@ uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3
uint8 VEHICLE_TYPE_AIRSHIP = 4
uint8 VEHICLE_TYPE_BOAT = 5
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
src/modules/commander/Commander.cpp
+6 -2
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@@ -1725,7 +1725,8 @@ void Commander::updateParameters()
&& _vtol_vehicle_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_fixed = is_fixed_wing(_vehicle_status) || (is_vtol(_vehicle_status)
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_ground = is_ground_vehicle(_vehicle_status);
const bool is_rover = is_rover_type(_vehicle_status);
const bool is_boat = is_boat_type(_vehicle_status);
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary) {
@@ -1734,10 +1735,13 @@ void Commander::updateParameters()
} else if (is_fixed) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground) {
} else if (is_rover) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
} else if (is_boat) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_BOAT;
}
_vehicle_status.is_vtol = is_vtol(_vehicle_status);
_vehicle_status.is_vtol_tailsitter = is_vtol_tailsitter(_vehicle_status);
src/modules/commander/commander_helper.cpp
+10
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@@ -122,6 +122,16 @@ bool is_ground_vehicle(const vehicle_status_s &current_status)
return (current_status.system_type == VEHICLE_TYPE_BOAT || current_status.system_type == VEHICLE_TYPE_GROUND_ROVER);
}
bool is_rover_type(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER;
}
bool is_boat_type(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_BOAT;
}
// End time for currently blinking LED message, 0 if no blink message
static hrt_abstime blink_msg_end = 0;
static int fd_leds{-1};
src/modules/commander/commander_helper.h
+2
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@@ -56,6 +56,8 @@ bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_vehicle(const vehicle_status_s &current_status);
bool is_rover_type(const vehicle_status_s &current_status);
bool is_boat_type(const vehicle_status_s &current_status);
int buzzer_init(void);
void buzzer_deinit(void);