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px4-firmware
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mtecs publish state

This commit is contained in:
Thomas Gubler 2014-05-30 19:36:06 +02:00
parent eed1b68537
commit 33356ed503
4 changed files with 15 additions and 13 deletions
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8
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -386,7 +386,7 @@ private:
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
fwPosctrl::mTecs::tecs_mode mode = fwPosctrl::mTecs::TECS_MODE_NORMAL);
tecs_mode mode = TECS_MODE_NORMAL);
};
@ -1018,7 +1018,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
0.0f, throttle_max, throttle_land,
false, flare_pitch_angle_rad,
_pos_sp_triplet.current.alt + relative_alt, ground_speed,
land_motor_lim ? fwPosctrl::mTecs::TECS_MODE_LAND_THROTTLELIM : fwPosctrl::mTecs::TECS_MODE_LAND);
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
if (!land_noreturn_vertical) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@ -1111,7 +1111,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(10.0f)),
_global_pos.alt,
ground_speed,
fwPosctrl::mTecs::TECS_MODE_TAKEOFF);
TECS_MODE_TAKEOFF);
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
@ -1449,7 +1449,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
fwPosctrl::mTecs::tecs_mode mode)
tecs_mode mode)
{
if (_mTecs.getEnabled()) {
/* Using mtecs library: prepare arguments for mtecs call */

1
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
View File

@ -224,6 +224,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
_status.totalEnergyRate = totalEnergyRate;
_status.energyDistributionRateSp = energyDistributionRateSp;
_status.energyDistributionRate = energyDistributionRate;
_status.mode = mode;
/** update control blocks **/
/* update total energy rate control block */

9
src/modules/fw_pos_control_l1/mtecs/mTecs.h
View File

@ -60,15 +60,6 @@ public:
mTecs();
virtual ~mTecs();
typedef enum {
TECS_MODE_NORMAL,
TECS_MODE_UNDERSPEED,
TECS_MODE_TAKEOFF,
TECS_MODE_LAND,
TECS_MODE_LAND_THROTTLELIM
} tecs_mode;
/* A small class which provides helper fucntions to override control output limits which are usually set by
* parameters in special cases
*/

10
src/modules/uORB/topics/tecs_status.h
View File

@ -50,6 +50,14 @@
* @{
*/
typedef enum {
TECS_MODE_NORMAL,
TECS_MODE_UNDERSPEED,
TECS_MODE_TAKEOFF,
TECS_MODE_LAND,
TECS_MODE_LAND_THROTTLELIM
} tecs_mode;
/**
* Internal values of the (m)TECS fixed wing speed alnd altitude control system
*/
@ -69,6 +77,8 @@ struct tecs_status_s {
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
tecs_mode mode;
};
/**