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px4-firmware
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reset transition command to current state when not in offboard

This commit is contained in:
Andreas Antener 2015-08-11 22:51:47 +02:00 committed by Simon Wilks
parent 1da703a13d
commit 5463c6767d
3 changed files with 19 additions and 5 deletions
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19
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -325,9 +325,6 @@ VtolAttitudeControl::vehicle_cmd_poll() {
if (updated) {
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_cmd);
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
}
}
}
@ -505,9 +502,25 @@ void VtolAttitudeControl::task_main()
vehicle_battery_poll();
vehicle_cmd_poll();
// update transition command if necessary
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
}
// update the vtol state machine which decides which mode we are in
_vtol_type->update_vtol_state();
// reset transition command if not in offboard control
if (!_v_control_mode.flag_control_offboard_enabled)
{
if (_vtol_type->get_mode() == ROTARY_WING) {
_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
else if (_vtol_type->get_mode() == FIXED_WING) {
_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
}
// check in which mode we are in and call mode specific functions
if (_vtol_type->get_mode() == ROTARY_WING) {
// vehicle is in rotary wing mode

1
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@ -99,6 +99,7 @@ public:
~VtolAttitudeControl();
int start(); /* start the task and return OK on success */
bool is_fixed_wing_requested();
struct vehicle_attitude_s* get_att () {return &_v_att;}
struct vehicle_attitude_setpoint_s* get_att_sp () {return &_v_att_sp;}

4
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -134,8 +134,8 @@ void VtolType::set_idle_fw()
}
/*
* Return true if fixed-wing mode is requested.
* Either via switch or via command.
* Returns true if fixed-wing mode is requested.
* Changed either via switch or via command.
*/
bool VtolType::is_fixed_wing_requested()
{