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Improved mode mapping for fixedwing_backside.

This commit is contained in:
James Goppert 2013-11-14 15:24:34 -05:00
parent ea156f556f
commit 2138a1c816
1 changed files with 12 additions and 11 deletions
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23
src/modules/fixedwing_backside/fixedwing.cpp
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@ -156,7 +156,8 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[i] = 0.0f;
// only update guidance in auto mode
if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { // TODO use vehicle_control_mode here?
if (_status.main_state == MAIN_STATE_AUTO) {
// TODO use vehicle_control_mode here?
// update guidance
_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
}
@ -166,14 +167,11 @@ void BlockMultiModeBacksideAutopilot::update()
// the setpoint should update to loitering around this position
// handle autopilot modes
if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
_status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here?
if (_status.main_state != MAIN_STATE_AUTO) {
// update guidance
_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// calculate velocity, XXX should be airspeed,
// but using ground speed for now for the purpose
// of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
@ -218,19 +216,22 @@ void BlockMultiModeBacksideAutopilot::update()
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
// do not limit in HIL
if (_status.hil_state != HIL_STATE_ON) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
} else if (_status.navigation_state == NAVIGATION_STATE_DIRECT) { // TODO use vehicle_control_mode here?
} else if (_status.main_state == MAIN_STATE_MANUAL) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
} else if (_status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here?
} else if (_status.main_state == MAIN_STATE_SEATBELT ||
_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity