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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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oravla5
190 lines
8.3 KiB
C++
190 lines
8.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "control_mode.hpp"
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#include <uORB/topics/vehicle_status.h>
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namespace mode_util
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{
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static bool stabilization_required(uint8_t vehicle_type)
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{
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return vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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}
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void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
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const offboard_control_mode_s &offboard_control_mode,
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vehicle_control_mode_s &vehicle_control_mode)
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{
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switch (nav_state) {
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case vehicle_status_s::NAVIGATION_STATE_MANUAL:
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vehicle_control_mode.flag_control_manual_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
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vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_STAB:
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vehicle_control_mode.flag_control_manual_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
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vehicle_control_mode.flag_control_manual_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_POSCTL:
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case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW:
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vehicle_control_mode.flag_control_manual_enabled = true;
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vehicle_control_mode.flag_control_position_enabled = true;
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vehicle_control_mode.flag_control_velocity_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
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case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
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vehicle_control_mode.flag_control_auto_enabled = true;
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vehicle_control_mode.flag_control_position_enabled = true;
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vehicle_control_mode.flag_control_velocity_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_ACRO:
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vehicle_control_mode.flag_control_manual_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
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case vehicle_status_s::NAVIGATION_STATE_DESCEND:
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vehicle_control_mode.flag_control_auto_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
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/* disable all controllers on termination */
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vehicle_control_mode.flag_control_termination_enabled = true;
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break;
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case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
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vehicle_control_mode.flag_control_offboard_enabled = true;
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if (offboard_control_mode.position) {
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vehicle_control_mode.flag_control_position_enabled = true;
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vehicle_control_mode.flag_control_velocity_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_acceleration_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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} else if (offboard_control_mode.velocity) {
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vehicle_control_mode.flag_control_velocity_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_acceleration_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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} else if (offboard_control_mode.acceleration) {
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vehicle_control_mode.flag_control_acceleration_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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} else if (offboard_control_mode.attitude) {
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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} else if (offboard_control_mode.body_rate) {
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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} else if (offboard_control_mode.thrust_and_torque) {
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vehicle_control_mode.flag_control_allocation_enabled = true;
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}
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break;
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case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
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// Follow Target supports RC adjustment, so disable auto control mode to disable
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// the Flight Task from exiting itself when RC stick movement is detected.
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case vehicle_status_s::NAVIGATION_STATE_ORBIT:
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vehicle_control_mode.flag_control_manual_enabled = false;
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vehicle_control_mode.flag_control_auto_enabled = false;
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vehicle_control_mode.flag_control_position_enabled = true;
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vehicle_control_mode.flag_control_velocity_enabled = true;
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vehicle_control_mode.flag_control_altitude_enabled = true;
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vehicle_control_mode.flag_control_climb_rate_enabled = true;
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vehicle_control_mode.flag_control_attitude_enabled = true;
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vehicle_control_mode.flag_control_rates_enabled = true;
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vehicle_control_mode.flag_control_allocation_enabled = true;
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break;
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// vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement
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default:
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break;
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}
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}
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} // namespace mode_util
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