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Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-01-06 18:50:32 +01:00
parent 5579a1d789
commit 2c6b3eeb02
2 changed files with 7 additions and 11 deletions
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17
src/modules/navigator/mission_block.cpp
View File

@ -112,18 +112,16 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_VTOL_TRANSITION:
/*
* We wait half a second to give the transition command time to propagate.
* Then monitor the transition status for completion.
*/
// TODO: check desired transition state achieved and drop _action_start
if (hrt_absolute_time() - _action_start > 500000 &&
!_navigator->get_vstatus()->in_transition_mode) {
if (int(_mission_item.params[0]) == 3) {
// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
_action_start = 0;
return true;
} else if (int(_mission_item.params[0]) == 4) {
// transition to FW requested, only accept waypoint if vehicle state has changed accordingly
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else {
// invalid vtol transition request
return false;
}
@ -473,7 +471,6 @@ MissionBlock::issue_command(const mission_item_s &item)
_actuator_pub.publish(actuators);
} else {
_action_start = hrt_absolute_time();
// This is to support legacy DO_MOUNT_CONTROL as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL) {

1
src/modules/navigator/mission_block.h
View File

@ -149,7 +149,6 @@ protected:
bool _waypoint_position_reached{false};
bool _waypoint_yaw_reached{false};
hrt_abstime _action_start{0};
hrt_abstime _time_wp_reached{0};
uORB::Publication<actuator_controls_s> _actuator_pub{ORB_ID(actuator_controls_2)};