Add velocity control as a fw state

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src/modules/fw_path_navigation/FixedwingPositionControl.cpp

@@ -696,39 +696,42 @@ FixedwingPositionControl::updateManualTakeoffStatus()
 	}
 }
 
-void
-FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
+FW_POSCTRL_MODE
+FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, const FW_POSCTRL_MODE &current_mode)
 {
 	/* only run position controller in fixed-wing mode and during transitions for VTOL */
 	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
-		_control_mode_current = FW_POSCTRL_MODE_OTHER;
-		return; // do not publish the setpoint
+		return FW_POSCTRL_MODE_OTHER; // do not publish the setpoint
 	}
 
-	FW_POSCTRL_MODE commanded_position_control_mode = _control_mode_current;
-
 	_skipping_takeoff_detection = false;
 
+	if (_control_mode.flag_control_offboard_enabled && !_control_mode.flag_control_position_enabled
+	    && _control_mode.flag_control_velocity_enabled) {
+		return FW_POSCTRL_MODE_AUTO_VELOCITY;
+	}
+
+
 	if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) ||
 	     _control_mode.flag_control_offboard_enabled) && _position_setpoint_current_valid) {
 
 		if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
 
 			if (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode) {
-				_control_mode_current = FW_POSCTRL_MODE_AUTO;
-
 				// in this case we want the waypoint handled as a position setpoint -- a submode in control_auto()
 				_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 
-			} else {
-				_control_mode_current = FW_POSCTRL_MODE_AUTO_TAKEOFF;
+				return FW_POSCTRL_MODE_AUTO;
 
-				if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_TAKEOFF && !_landed) {
+			} else {
+				if (current_mode != FW_POSCTRL_MODE_AUTO_TAKEOFF && !_landed) {
 					// skip takeoff detection when switching from any other mode, auto or manual,
 					// while already in air.
 					// TODO: find a better place for / way of doing this
 					_skipping_takeoff_detection = true;
 				}
+
+				return FW_POSCTRL_MODE_AUTO_TAKEOFF;
 			}
 
 		} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
@@ -739,10 +742,10 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 				// Straight landings are currently only possible in Missions, and there the previous WP
 				// is valid, and circular ones are used outside of Missions, as the land mode sets prev_valid=false.
 				if (_position_setpoint_previous_valid) {
-					_control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT;
+					return FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT;
 
 				} else {
-					_control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR;
+					return FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR;
 				}
 
 			} else {
@@ -751,7 +754,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 			}
 
 		} else {
-			_control_mode_current = FW_POSCTRL_MODE_AUTO;
+			return FW_POSCTRL_MODE_AUTO;
 		}
 
 	} else if (_control_mode.flag_control_auto_enabled
@@ -761,33 +764,33 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 
 		// failsafe modes engaged if position estimate is invalidated
 
-		if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE
-		    && commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
+		if (current_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE
+		    && current_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
 			// reset timer the first time we switch into this mode
 			_time_in_fixed_bank_loiter = now;
 		}
 
 		if (hrt_elapsed_time(&_time_in_fixed_bank_loiter) < (_param_nav_gpsf_lt.get() * 1_s)
 		    && !_vehicle_status.in_transition_mode) {
-			if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
+			if (current_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
 				// Need to init because last loop iteration was in a different mode
 				events::send(events::ID("fixedwing_position_control_fb_loiter"), events::Log::Critical,
 					     "Start loiter with fixed bank angle");
 			}
 
-			_control_mode_current = FW_POSCTRL_MODE_AUTO_ALTITUDE;
+			return FW_POSCTRL_MODE_AUTO_ALTITUDE;
 
 		} else {
-			if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
+			if (current_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
 				events::send(events::ID("fixedwing_position_control_descend"), events::Log::Critical, "Start descending");
 			}
 
-			_control_mode_current = FW_POSCTRL_MODE_AUTO_CLIMBRATE;
+			return FW_POSCTRL_MODE_AUTO_CLIMBRATE;
 		}
 
 
 	} else if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
-		if (commanded_position_control_mode != FW_POSCTRL_MODE_MANUAL_POSITION) {
+		if (current_mode != FW_POSCTRL_MODE_MANUAL_POSITION) {
 			/* Need to init because last loop iteration was in a different mode */
 			_hdg_hold_yaw = _yaw; // yaw is not controlled, so set setpoint to current yaw
 			_hdg_hold_enabled = false; // this makes sure the waypoints are reset below
@@ -799,15 +802,15 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 			_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 		}
 
-		_control_mode_current = FW_POSCTRL_MODE_MANUAL_POSITION;
+		return FW_POSCTRL_MODE_MANUAL_POSITION;
 
 	} else if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_altitude_enabled) {
 
-		_control_mode_current = FW_POSCTRL_MODE_MANUAL_ALTITUDE;
+		return FW_POSCTRL_MODE_MANUAL_ALTITUDE;
 
-	} else {
-		_control_mode_current = FW_POSCTRL_MODE_OTHER;
 	}
+
+	return FW_POSCTRL_MODE_OTHER;
 }
 
 void
@@ -892,10 +895,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 		control_auto_position(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp);
 		break;
 
-	case position_setpoint_s::SETPOINT_TYPE_VELOCITY:
-		control_auto_velocity(control_interval, curr_pos, ground_speed, current_sp);
-		break;
-
 	case position_setpoint_s::SETPOINT_TYPE_LOITER:
 		control_auto_loiter(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
 		break;
@@ -979,10 +978,6 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
 {
 	uint8_t position_sp_type = pos_sp_curr.type;
 
-	if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) {
-		return position_setpoint_s::SETPOINT_TYPE_VELOCITY;
-	}
-
 	Vector2d curr_wp{0, 0};
 
 	/* current waypoint (the one currently heading for) */
@@ -2279,7 +2274,7 @@ FixedwingPositionControl::Run()
 		Vector2d curr_pos(_current_latitude, _current_longitude);
 		Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
 
-		set_control_mode_current(_local_pos.timestamp);
+		_control_mode_current = set_control_mode_current(_local_pos.timestamp, _control_mode_current);
 
 		update_in_air_states(_local_pos.timestamp);
 
@@ -2350,6 +2345,11 @@ FixedwingPositionControl::Run()
 				break;
 			}
 
+		case FW_POSCTRL_MODE_AUTO_VELOCITY: {
+				control_auto_velocity(control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
+				break;
+			}
+
 		case FW_POSCTRL_MODE_MANUAL_POSITION: {
 				control_manual_position(control_interval, curr_pos, ground_speed);
 				break;

src/modules/fw_path_navigation/FixedwingPositionControl.hpp

@@ -167,6 +167,19 @@ static constexpr float MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE = 0.15f;
 // [s] time interval after touchdown for ramping in runway clamping constraints (touchdown is assumed at FW_LND_TD_TIME after start of flare)
 static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 
+enum FW_POSCTRL_MODE {
+	FW_POSCTRL_MODE_AUTO,
+	FW_POSCTRL_MODE_AUTO_ALTITUDE,
+	FW_POSCTRL_MODE_AUTO_CLIMBRATE,
+	FW_POSCTRL_MODE_AUTO_TAKEOFF,
+	FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
+	FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
+	FW_POSCTRL_MODE_AUTO_VELOCITY,
+	FW_POSCTRL_MODE_MANUAL_POSITION,
+	FW_POSCTRL_MODE_MANUAL_ALTITUDE,
+	FW_POSCTRL_MODE_OTHER
+};
+
 class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -236,17 +249,7 @@ private:
 
 	uint8_t _position_sp_type{0};
 
-	enum FW_POSCTRL_MODE {
-		FW_POSCTRL_MODE_AUTO,
-		FW_POSCTRL_MODE_AUTO_ALTITUDE,
-		FW_POSCTRL_MODE_AUTO_CLIMBRATE,
-		FW_POSCTRL_MODE_AUTO_TAKEOFF,
-		FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
-		FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
-		FW_POSCTRL_MODE_MANUAL_POSITION,
-		FW_POSCTRL_MODE_MANUAL_ALTITUDE,
-		FW_POSCTRL_MODE_OTHER
-	} _control_mode_current{FW_POSCTRL_MODE_OTHER}; // used to check if the mode has changed
+	FW_POSCTRL_MODE _control_mode_current{FW_POSCTRL_MODE_OTHER}; // used to check if the mode has changed
 
 	enum StickConfig {
 		STICK_CONFIG_SWAP_STICKS_BIT = (1 << 0),
@@ -685,8 +688,10 @@ private:
 	 * May also change the position setpoint type depending on the desired behavior.
 	 *
 	 * @param now Current system time [us]
+	 * @param current_mode Current flight mode
+	 * @return FW_POSCTRL_MODE Next flight mode to transition to
 	 */
-	void set_control_mode_current(const hrt_abstime &now);
+	FW_POSCTRL_MODE set_control_mode_current(const hrt_abstime &now, const FW_POSCTRL_MODE &current_mode);
 
 	/**
 	 * @brief Compensate trim throttle for air density and vehicle weight.