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CA: make flight_phase class variable

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-01-11 12:02:03 +01:00
parent fd9d0211aa
commit f75a0bec33
2 changed files with 6 additions and 7 deletions
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12
src/modules/control_allocator/ControlAllocator.cpp
View File

@ -338,28 +338,26 @@ ControlAllocator::Run()
_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};
// Check if the current flight phase is HOVER or FIXED_WING
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
flight_phase = ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT;
_flight_phase = ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT;
} else {
flight_phase = ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
_flight_phase = ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
}
// Special cases for VTOL in transition
if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
if (vehicle_status.in_transition_to_fw) {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_HF_TO_FF;
_flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_HF_TO_FF;
} else {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_FF_TO_HF;
_flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_FF_TO_HF;
}
}
// Forward to effectiveness source
_actuator_effectiveness->setFlightPhase(flight_phase);
_actuator_effectiveness->setFlightPhase(_flight_phase);
}
}

1
src/modules/control_allocator/ControlAllocator.hpp
View File

@ -209,6 +209,7 @@ private:
ParamHandles _param_handles{};
Params _params{};
bool _has_slew_rate{false};
ActuatorEffectiveness::FlightPhase _flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};
DEFINE_PARAMETERS(
(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,