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VTOL: pull up generic setpoint publishing

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This commit is contained in:
tumbili
2016-02-18 18:55:56 +01:00
committed by Lorenz Meier
parent 967b404de8
commit fa52aa322a
10 changed files with 152 additions and 177 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+21 -39
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@@ -227,39 +227,6 @@ void Tailsitter::update_vtol_state()
}
}
void Tailsitter::update_mc_state()
{
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
}
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Tailsitter::update_fw_state()
{
if (flag_idle_mc) {
set_idle_fw();
flag_idle_mc = false;
}
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
_mc_yaw_weight = 0.0f;
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Tailsitter::update_transition_state()
{
if (!_flag_was_in_trans_mode) {
@@ -381,12 +348,6 @@ void Tailsitter::update_transition_state()
memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));
}
void Tailsitter::update_external_state()
{
}
void Tailsitter::calc_tot_airspeed()
{
float airspeed = math::max(1.0f, _airspeed->true_airspeed_m_s); // prevent numerical drama
@@ -439,6 +400,27 @@ void Tailsitter::scale_mc_output()
-1.0f, 1.0f);
}
void Tailsitter::update_mc_state()
{
VtolType::update_mc_state();
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
}
}
void Tailsitter::update_fw_state()
{
VtolType::update_fw_state();
if (flag_idle_mc) {
set_idle_fw();
flag_idle_mc = false;
}
}
/**
* Write data to actuator output topic.
*/