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[offboard] add thrust and torque control mode 

New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan 2023-10-14 16:03:49 +01:00 committed by Daniel Agar
parent 6cc38776c8
commit 1c8f31f339
3 changed files with 22 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
msg/OffboardControlMode.msg
View File

@ -7,4 +7,5 @@ bool velocity
bool acceleration
bool attitude
bool body_rate
bool actuator
bool thrust_and_torque
bool direct_actuator

2
src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp
View File

@ -48,7 +48,7 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity
|| offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
|| offboard_control_mode.actuator) && data_is_recent;
|| offboard_control_mode.thrust_and_torque || offboard_control_mode.direct_actuator) && data_is_recent;
if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) {
offboard_available = false;

24
src/modules/commander/ModeUtil/control_mode.cpp
View File

@ -46,19 +46,20 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
const offboard_control_mode_s &offboard_control_mode,
vehicle_control_mode_s &vehicle_control_mode)
{
vehicle_control_mode.flag_control_allocation_enabled = true; // Always enabled by default
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
@ -67,6 +68,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
@ -77,6 +79,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
@ -93,11 +96,13 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
@ -105,6 +110,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
@ -121,28 +127,36 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
} else if (offboard_control_mode.velocity) {
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
} else if (offboard_control_mode.acceleration) {
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
} else if (offboard_control_mode.attitude) {
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
} else if (offboard_control_mode.body_rate) {
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
} else if (offboard_control_mode.thrust_and_torque) {
vehicle_control_mode.flag_control_allocation_enabled = true;
}
break;