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control_mode: reorder modes according to controller cascade

This commit is contained in:
Matthias Grob 2023-11-23 19:27:30 +01:00
parent 6e31638817
commit 8271faedeb
3 changed files with 20 additions and 20 deletions
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10
msg/VehicleControlMode.msg
View File

@ -6,15 +6,15 @@ bool flag_multicopter_position_control_enabled
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_acceleration_enabled # true if acceleration is controlled
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_position_enabled # true if position is controlled
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_altitude_enabled # true if altitude is controlled
bool flag_control_climb_rate_enabled # true if climb rate is controlled
bool flag_control_termination_enabled # true if flighttermination is enabled
bool flag_control_acceleration_enabled # true if acceleration is controlled
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_allocation_enabled # true if control allocation is enabled
bool flag_control_termination_enabled # true if flighttermination is enabled
# TODO: use dedicated topic for external requests
uint8 source_id # Mode ID (nav_state)

2
src/modules/commander/ModeManagement.hpp
View File

@ -92,8 +92,8 @@ public:
config_control_setpoint_.flag_control_altitude_enabled = true;
config_control_setpoint_.flag_control_climb_rate_enabled = true;
config_control_setpoint_.flag_control_acceleration_enabled = true;
config_control_setpoint_.flag_control_rates_enabled = true;
config_control_setpoint_.flag_control_attitude_enabled = true;
config_control_setpoint_.flag_control_rates_enabled = true;
config_control_setpoint_.flag_control_allocation_enabled = true;
}

28
src/modules/commander/ModeUtil/control_mode.cpp
View File

@ -50,35 +50,35 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
@ -90,12 +90,12 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
@ -107,9 +107,9 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;