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Replaces poshold/althold with posctrl/altctrl

This commit is contained in:
TickTock- 2014-04-28 21:47:45 -07:00
parent 269800b48c
commit 31089a290b
16 changed files with 97 additions and 97 deletions
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4
mavlink/include/mavlink/v1.0/autoquad/autoquad.h
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@ -40,8 +40,8 @@ enum AUTOQUAD_NAV_STATUS
AQ_NAV_STATUS_INIT=0, /* System is initializing | */ AQ_NAV_STATUS_INIT=0, /* System is initializing | */
AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */ AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */
AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */ AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */
AQ_NAV_STATUS_ALTHOLD=4, /* Altitude hold engaged | */ AQ_NAV_STATUS_ALTCTRL=4, /* Altitude hold engaged | */
AQ_NAV_STATUS_POSHOLD=8, /* Position hold engaged | */ AQ_NAV_STATUS_POSCTRL=8, /* Position hold engaged | */
AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */ AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */
AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */ AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */
AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */ AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */

4
src/drivers/blinkm/blinkm.cpp
View File

@ -638,11 +638,11 @@ BlinkM::led()
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
/* indicate main control state */ /* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_POSHOLD) if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL)
led_color_4 = LED_GREEN; led_color_4 = LED_GREEN;
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
led_color_4 = LED_BLUE; led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTHOLD) else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL)
led_color_4 = LED_YELLOW; led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE; led_color_4 = LED_WHITE;

46
src/modules/commander/commander.cpp
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@ -434,13 +434,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* MANUAL */ /* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL); main_res = main_state_transition(status, MAIN_STATE_MANUAL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTHOLD) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
/* ALTHOLD */ /* ALTCTRL */
main_res = main_state_transition(status, MAIN_STATE_ALTHOLD); main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSHOLD) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
/* POSHOLD */ /* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSHOLD); main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */ /* AUTO */
@ -455,8 +455,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* POSHOLD */ /* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSHOLD); main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */ /* MANUAL */
@ -628,8 +628,8 @@ int commander_thread_main(int argc, char *argv[])
char *main_states_str[MAIN_STATE_MAX]; char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL"; main_states_str[0] = "MANUAL";
main_states_str[1] = "ALTHOLD"; main_states_str[1] = "ALTCTRL";
main_states_str[2] = "POSHOLD"; main_states_str[2] = "POSCTRL";
main_states_str[3] = "AUTO"; main_states_str[3] = "AUTO";
char *arming_states_str[ARMING_STATE_MAX]; char *arming_states_str[ARMING_STATE_MAX];
@ -1299,8 +1299,8 @@ int commander_thread_main(int argc, char *argv[])
} }
// TODO remove this hack // TODO remove this hack
/* flight termination in manual mode if assisted switch is on poshold position */ /* flight termination in manual mode if assisted switch is on posctrl position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.poshold_switch == SWITCH_POS_ON) { if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive(armed.armed); tune_positive(armed.armed);
} }
@ -1557,25 +1557,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; break;
case SWITCH_POS_MIDDLE: // ASSISTED case SWITCH_POS_MIDDLE: // ASSISTED
if (sp_man->poshold_switch == SWITCH_POS_ON) { if (sp_man->posctrl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSHOLD); res = main_state_transition(status, MAIN_STATE_POSCTRL);
if (res != TRANSITION_DENIED) { if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state break; // changed successfully or already in this state
} }
// else fallback to ALTHOLD // else fallback to ALTCTRL
print_reject_mode(status, "POSHOLD"); print_reject_mode(status, "POSCTRL");
} }
res = main_state_transition(status, MAIN_STATE_ALTHOLD); res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) { if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode break; // changed successfully or already in this mode
} }
if (sp_man->poshold_switch != SWITCH_POS_ON) { if (sp_man->posctrl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTHOLD"); print_reject_mode(status, "ALTCTRL");
} }
// else fallback to MANUAL // else fallback to MANUAL
@ -1590,9 +1590,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this state break; // changed successfully or already in this state
} }
// else fallback to ALTHOLD (POSHOLD likely will not work too) // else fallback to ALTCTRL (POSCTRL likely will not work too)
print_reject_mode(status, "AUTO"); print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_ALTHOLD); res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) { if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state break; // changed successfully or already in this state
@ -1638,7 +1638,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false; control_mode.flag_control_velocity_enabled = false;
break; break;
case MAIN_STATE_ALTHOLD: case MAIN_STATE_ALTCTRL:
control_mode.flag_control_manual_enabled = true; control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false; control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true; control_mode.flag_control_rates_enabled = true;
@ -1649,7 +1649,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false; control_mode.flag_control_velocity_enabled = false;
break; break;
case MAIN_STATE_POSHOLD: case MAIN_STATE_POSCTRL:
control_mode.flag_control_manual_enabled = true; control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false; control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true; control_mode.flag_control_rates_enabled = true;

24
src/modules/commander/commander_tests/state_machine_helper_test.cpp
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@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state)); TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to ALTHOLD. // MANUAL to ALTCTRL.
current_state.main_state = MAIN_STATE_MANUAL; current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = true; current_state.condition_local_altitude_valid = true;
new_main_state = MAIN_STATE_ALTHOLD; new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("tranisition: manual to althold", ut_assert("tranisition: manual to altctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state)); TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state); ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
// MANUAL to ALTHOLD, invalid local altitude. // MANUAL to ALTCTRL, invalid local altitude.
current_state.main_state = MAIN_STATE_MANUAL; current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = false; current_state.condition_local_altitude_valid = false;
new_main_state = MAIN_STATE_ALTHOLD; new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("no transition: invalid local altitude", ut_assert("no transition: invalid local altitude",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state)); TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to POSHOLD. // MANUAL to POSCTRL.
current_state.main_state = MAIN_STATE_MANUAL; current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = true; current_state.condition_local_position_valid = true;
new_main_state = MAIN_STATE_POSHOLD; new_main_state = MAIN_STATE_POSCTRL;
ut_assert("transition: manual to poshold", ut_assert("transition: manual to posctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state)); TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state); ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
// MANUAL to POSHOLD, invalid local position. // MANUAL to POSCTRL, invalid local position.
current_state.main_state = MAIN_STATE_MANUAL; current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = false; current_state.condition_local_position_valid = false;
new_main_state = MAIN_STATE_POSHOLD; new_main_state = MAIN_STATE_POSCTRL;
ut_assert("no transition: invalid position", ut_assert("no transition: invalid position",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state)); TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);

4
src/modules/commander/px4_custom_mode.h
View File

@ -12,8 +12,8 @@
enum PX4_CUSTOM_MAIN_MODE { enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1, PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTHOLD, PX4_CUSTOM_MAIN_MODE_ALTCTRL,
PX4_CUSTOM_MAIN_MODE_POSHOLD, PX4_CUSTOM_MAIN_MODE_POSCTRL,
PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_MAIN_MODE_AUTO,
}; };

4
src/modules/commander/state_machine_helper.cpp
View File

@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED; ret = TRANSITION_CHANGED;
break; break;
case MAIN_STATE_ALTHOLD: case MAIN_STATE_ALTCTRL:
/* need at minimum altitude estimate */ /* need at minimum altitude estimate */
if (!status->is_rotary_wing || if (!status->is_rotary_wing ||
@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break; break;
case MAIN_STATE_POSHOLD: case MAIN_STATE_POSCTRL:
/* need at minimum local position estimate */ /* need at minimum local position estimate */
if (status->condition_local_position_valid || if (status->condition_local_position_valid ||

4
src/modules/fixedwing_backside/fixedwing.cpp
View File

@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle; _actuators.control[CH_THR] = _manual.throttle;
} else if (_status.main_state == MAIN_STATE_ALTHOLD || } else if (_status.main_state == MAIN_STATE_ALTCTRL ||
_status.main_state == MAIN_STATE_POSHOLD /* TODO, implement easy */) { _status.main_state == MAIN_STATE_POSCTRL /* TODO, implement easy */) {
// calculate velocity, XXX should be airspeed, but using ground speed for now // calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between // for the purpose of control we will limit the velocity feedback between

42
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -153,7 +153,7 @@ private:
bool _setpoint_valid; /**< flag if the position control setpoint is valid */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */
/** manual control states */ /** manual control states */
float _althold_hold_heading; /**< heading the system should hold in althold mode */ float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */
double _loiter_hold_lat; double _loiter_hold_lat;
double _loiter_hold_lon; double _loiter_hold_lon;
float _loiter_hold_alt; float _loiter_hold_alt;
@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true; _att_sp.roll_reset_integral = true;
} }
} else if (0/* poshold mode enabled */) { } else if (0/* posctrl mode enabled */) {
/** POSHOLD FLIGHT **/ /** POSCTRL FLIGHT **/
if (0/* switched from another mode to poshold */) { if (0/* switched from another mode to posctrl */) {
_althold_hold_heading = _att.yaw; _altctrl_hold_heading = _att.yaw;
} }
if (0/* poshold on and manual control yaw non-zero */) { if (0/* posctrl on and manual control yaw non-zero */) {
_althold_hold_heading = _att.yaw + _manual.yaw; _altctrl_hold_heading = _att.yaw + _manual.yaw;
} }
//XXX not used //XXX not used
@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// climb_out = true; // climb_out = true;
// } // }
/* if in althold mode, set airspeed based on manual control */ /* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here // XXX check if ground speed undershoot should be applied here
float althold_airspeed = _parameters.airspeed_min + float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) * (_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle; _manual.throttle;
_l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll(); _att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing(); _att_sp.yaw_body = _l1_control.nav_bearing();
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
althold_airspeed, altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas, _airspeed.indicated_airspeed_m_s, eas2tas,
false, _parameters.pitch_limit_min, false, _parameters.pitch_limit_min,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
_parameters.pitch_limit_min, _parameters.pitch_limit_max); _parameters.pitch_limit_min, _parameters.pitch_limit_max);
} else if (0/* althold mode enabled */) { } else if (0/* altctrl mode enabled */) {
/** ALTHOLD FLIGHT **/ /** ALTCTRL FLIGHT **/
if (0/* switched from another mode to althold */) { if (0/* switched from another mode to altctrl */) {
_althold_hold_heading = _att.yaw; _altctrl_hold_heading = _att.yaw;
} }
if (0/* althold on and manual control yaw non-zero */) { if (0/* altctrl on and manual control yaw non-zero */) {
_althold_hold_heading = _att.yaw + _manual.yaw; _altctrl_hold_heading = _att.yaw + _manual.yaw;
} }
/* if in althold mode, set airspeed based on manual control */ /* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here // XXX check if ground speed undershoot should be applied here
float althold_airspeed = _parameters.airspeed_min + float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) * (_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle; _manual.throttle;
@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
climb_out = true; climb_out = true;
} }
_l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _manual.roll; _att_sp.roll_body = _manual.roll;
_att_sp.yaw_body = _manual.yaw; _att_sp.yaw_body = _manual.yaw;
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
althold_airspeed, altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas, _airspeed.indicated_airspeed_m_s, eas2tas,
climb_out, _parameters.pitch_limit_min, climb_out, _parameters.pitch_limit_min,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,

8
src/modules/mavlink/mavlink_messages.cpp
View File

@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (status->main_state == MAIN_STATE_ALTHOLD) { } else if (status->main_state == MAIN_STATE_ALTCTRL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTHOLD; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL;
} else if (status->main_state == MAIN_STATE_POSHOLD) { } else if (status->main_state == MAIN_STATE_POSCTRL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSHOLD; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL;
} else if (status->main_state == MAIN_STATE_AUTO) { } else if (status->main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;

10
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/** /**
* Maximum vertical velocity * Maximum vertical velocity
* *
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTHOLD, POSHOLD). * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
* *
* @unit m/s * @unit m/s
* @min 0.0 * @min 0.0
@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
/** /**
* Vertical velocity feed forward * Vertical velocity feed forward
* *
* Feed forward weight for altitude control in stabilized modes (ALTHOLD, POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
* *
* @min 0.0 * @min 0.0
* @max 1.0 * @max 1.0
@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/** /**
* Maximum horizontal velocity * Maximum horizontal velocity
* *
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSHOLD). * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
* *
* @unit m/s * @unit m/s
* @min 0.0 * @min 0.0
@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
/** /**
* Horizontal velocity feed forward * Horizontal velocity feed forward
* *
* Feed forward weight for position control in position control mode (POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
* *
* @min 0.0 * @min 0.0
* @max 1.0 * @max 1.0
@ -176,7 +176,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
/** /**
* Maximum tilt angle in air * Maximum tilt angle in air
* *
* Limits maximum tilt in AUTO and POSHOLD modes during flight. * Limits maximum tilt in AUTO and POSCTRL modes during flight.
* *
* @unit deg * @unit deg
* @min 0.0 * @min 0.0

4
src/modules/segway/BlockSegwayController.cpp
View File

@ -35,8 +35,8 @@ void BlockSegwayController::update() {
// handle autopilot modes // handle autopilot modes
if (_status.main_state == MAIN_STATE_AUTO || if (_status.main_state == MAIN_STATE_AUTO ||
_status.main_state == MAIN_STATE_ALTHOLD || _status.main_state == MAIN_STATE_ALTCTRL ||
_status.main_state == MAIN_STATE_POSHOLD) { _status.main_state == MAIN_STATE_POSCTRL) {
_actuators.control[0] = spdCmd; _actuators.control[0] = spdCmd;
_actuators.control[1] = spdCmd; _actuators.control[1] = spdCmd;

6
src/modules/sensors/sensor_params.c
View File

@ -605,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
* @max 18 * @max 18
* @group Radio Calibration * @group Radio Calibration
*/ */
PARAM_DEFINE_INT32(RC_MAP_POSHLD_SW, 0); PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/** /**
* Loiter switch channel mapping. * Loiter switch channel mapping.
@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f);
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/** /**
* Threshold for selecting poshold mode * Threshold for selecting posctrl mode
* *
* min:-1 * min:-1
* max:+1 * max:+1
@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
* negative : true when channel<th * negative : true when channel<th
* *
*/ */
PARAM_DEFINE_FLOAT(RC_POSHOLD_TH, 0.5f); PARAM_DEFINE_FLOAT(RC_POSCTRL_TH, 0.5f);
/** /**
* Threshold for selecting return to launch mode * Threshold for selecting return to launch mode

26
src/modules/sensors/sensors.cpp
View File

@ -255,7 +255,7 @@ private:
int rc_map_mode_sw; int rc_map_mode_sw;
int rc_map_return_sw; int rc_map_return_sw;
int rc_map_poshold_sw; int rc_map_posctrl_sw;
int rc_map_loiter_sw; int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw; // int rc_map_offboard_ctrl_mode_sw;
@ -271,12 +271,12 @@ private:
int32_t rc_fails_thr; int32_t rc_fails_thr;
float rc_assisted_th; float rc_assisted_th;
float rc_auto_th; float rc_auto_th;
float rc_poshold_th; float rc_posctrl_th;
float rc_return_th; float rc_return_th;
float rc_loiter_th; float rc_loiter_th;
bool rc_assisted_inv; bool rc_assisted_inv;
bool rc_auto_inv; bool rc_auto_inv;
bool rc_poshold_inv; bool rc_posctrl_inv;
bool rc_return_inv; bool rc_return_inv;
bool rc_loiter_inv; bool rc_loiter_inv;
@ -309,7 +309,7 @@ private:
param_t rc_map_mode_sw; param_t rc_map_mode_sw;
param_t rc_map_return_sw; param_t rc_map_return_sw;
param_t rc_map_poshold_sw; param_t rc_map_posctrl_sw;
param_t rc_map_loiter_sw; param_t rc_map_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw; // param_t rc_map_offboard_ctrl_mode_sw;
@ -325,7 +325,7 @@ private:
param_t rc_fails_thr; param_t rc_fails_thr;
param_t rc_assisted_th; param_t rc_assisted_th;
param_t rc_auto_th; param_t rc_auto_th;
param_t rc_poshold_th; param_t rc_posctrl_th;
param_t rc_return_th; param_t rc_return_th;
param_t rc_loiter_th; param_t rc_loiter_th;
@ -526,7 +526,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */ /* optional mode switches, not mapped per default */
_parameter_handles.rc_map_poshold_sw = param_find("RC_MAP_POSHLD_SW"); _parameter_handles.rc_map_posctrl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@ -541,7 +541,7 @@ Sensors::Sensors() :
_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); _parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
_parameter_handles.rc_assisted_th = param_find("RC_ASSISTED_TH"); _parameter_handles.rc_assisted_th = param_find("RC_ASSISTED_TH");
_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH"); _parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
_parameter_handles.rc_poshold_th = param_find("RC_POSHOLD_TH"); _parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH");
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); _parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
@ -678,7 +678,7 @@ Sensors::parameters_update()
warnx("%s", paramerr); warnx("%s", paramerr);
} }
if (param_get(_parameter_handles.rc_map_poshold_sw, &(_parameters.rc_map_poshold_sw)) != OK) { if (param_get(_parameter_handles.rc_map_posctrl_sw, &(_parameters.rc_map_posctrl_sw)) != OK) {
warnx("%s", paramerr); warnx("%s", paramerr);
} }
@ -706,9 +706,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
_parameters.rc_auto_inv = (_parameters.rc_auto_th<0); _parameters.rc_auto_inv = (_parameters.rc_auto_th<0);
_parameters.rc_auto_th = fabs(_parameters.rc_auto_th); _parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
param_get(_parameter_handles.rc_poshold_th, &(_parameters.rc_poshold_th)); param_get(_parameter_handles.rc_posctrl_th, &(_parameters.rc_posctrl_th));
_parameters.rc_poshold_inv = (_parameters.rc_poshold_th<0); _parameters.rc_posctrl_inv = (_parameters.rc_posctrl_th<0);
_parameters.rc_poshold_th = fabs(_parameters.rc_poshold_th); _parameters.rc_posctrl_th = fabs(_parameters.rc_posctrl_th);
param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
_parameters.rc_return_inv = (_parameters.rc_return_th<0); _parameters.rc_return_inv = (_parameters.rc_return_th<0);
_parameters.rc_return_th = fabs(_parameters.rc_return_th); _parameters.rc_return_th = fabs(_parameters.rc_return_th);
@ -724,7 +724,7 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSHOLD] = _parameters.rc_map_poshold_sw - 1; _rc.function[POSCTRL] = _parameters.rc_map_posctrl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@ -1478,7 +1478,7 @@ Sensors::rc_poll()
/* mode switches */ /* mode switches */
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv); manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv);
manual.poshold_switch = get_rc_sw2pos_position(POSHOLD, _parameters.rc_poshold_th, _parameters.rc_poshold_inv); manual.posctrl_switch = get_rc_sw2pos_position(POSCTRL, _parameters.rc_posctrl_th, _parameters.rc_posctrl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);

2
src/modules/uORB/topics/manual_control_setpoint.h
View File

@ -78,7 +78,7 @@ struct manual_control_setpoint_s {
switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): no effect, return */ switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): no effect, return */
switch_pos_t poshold_switch; /**< poshold 2 position switch (optional): althold, poshold */ switch_pos_t posctrl_switch; /**< posctrl 2 position switch (optional): altctrl, posctrl */
switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */
}; /**< manual control inputs */ }; /**< manual control inputs */

2
src/modules/uORB/topics/rc_channels.h
View File

@ -64,7 +64,7 @@ enum RC_CHANNELS_FUNCTION {
YAW = 3, YAW = 3,
MODE = 4, MODE = 4,
RETURN = 5, RETURN = 5,
POSHOLD = 6, POSCTRL = 6,
LOITER = 7, LOITER = 7,
OFFBOARD_MODE = 8, OFFBOARD_MODE = 8,
FLAPS = 9, FLAPS = 9,

4
src/modules/uORB/topics/vehicle_status.h
View File

@ -63,8 +63,8 @@
/* main state machine */ /* main state machine */
typedef enum { typedef enum {
MAIN_STATE_MANUAL = 0, MAIN_STATE_MANUAL = 0,
MAIN_STATE_ALTHOLD, MAIN_STATE_ALTCTRL,
MAIN_STATE_POSHOLD, MAIN_STATE_POSCTRL,
MAIN_STATE_AUTO, MAIN_STATE_AUTO,
MAIN_STATE_MAX MAIN_STATE_MAX
} main_state_t; } main_state_t;