dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

delete RATTITUDE flight mode

This commit is contained in:
Daniel Agar 2021-03-03 19:27:56 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
.vscode/settings.json vendored
View File

@ -27,7 +27,6 @@
"cSpell.showStatus": false,
"cSpell.words": [
"acro",
"rattitude",
"nuttx",
"esc"
],

30
msg/commander_state.msg
View File

@ -1,21 +1,21 @@
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
uint64 timestamp # time since system start (microseconds)
uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
uint8 MAIN_STATE_RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
# LEGACY RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 main_state # main state machine

1
msg/manual_control_switches.msg
View File

@ -30,7 +30,6 @@ uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGH
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL

55
msg/rc_channels.msg
View File

@ -1,37 +1,36 @@
uint64 timestamp # time since system start (microseconds)
uint8 FUNCTION_THROTTLE=0
uint8 FUNCTION_ROLL=1
uint8 FUNCTION_PITCH=2
uint8 FUNCTION_YAW=3
uint8 FUNCTION_MODE=4
uint8 FUNCTION_RETURN=5
uint8 FUNCTION_POSCTL=6
uint8 FUNCTION_LOITER=7
uint8 FUNCTION_OFFBOARD=8
uint8 FUNCTION_ACRO=9
uint8 FUNCTION_FLAPS=10
uint8 FUNCTION_AUX_1=11
uint8 FUNCTION_AUX_2=12
uint8 FUNCTION_AUX_3=13
uint8 FUNCTION_AUX_4=14
uint8 FUNCTION_AUX_5=15
uint8 FUNCTION_PARAM_1=16
uint8 FUNCTION_PARAM_2=17
uint8 FUNCTION_PARAM_3_5=18
uint8 FUNCTION_RATTITUDE=19
uint8 FUNCTION_KILLSWITCH=20
uint8 FUNCTION_TRANSITION=21
uint8 FUNCTION_GEAR=22
uint8 FUNCTION_ARMSWITCH=23
uint8 FUNCTION_STAB=24
uint8 FUNCTION_AUX_6=25
uint8 FUNCTION_MAN=26
uint8 FUNCTION_THROTTLE = 0
uint8 FUNCTION_ROLL = 1
uint8 FUNCTION_PITCH = 2
uint8 FUNCTION_YAW = 3
uint8 FUNCTION_MODE = 4
uint8 FUNCTION_RETURN = 5
uint8 FUNCTION_POSCTL = 6
uint8 FUNCTION_LOITER = 7
uint8 FUNCTION_OFFBOARD = 8
uint8 FUNCTION_ACRO = 9
uint8 FUNCTION_FLAPS = 10
uint8 FUNCTION_AUX_1 = 11
uint8 FUNCTION_AUX_2 = 12
uint8 FUNCTION_AUX_3 = 13
uint8 FUNCTION_AUX_4 = 14
uint8 FUNCTION_AUX_5 = 15
uint8 FUNCTION_PARAM_1 = 16
uint8 FUNCTION_PARAM_2 = 17
uint8 FUNCTION_PARAM_3_5 = 18
uint8 FUNCTION_KILLSWITCH = 19
uint8 FUNCTION_TRANSITION = 20
uint8 FUNCTION_GEAR = 21
uint8 FUNCTION_ARMSWITCH = 22
uint8 FUNCTION_STAB = 23
uint8 FUNCTION_AUX_6 = 24
uint8 FUNCTION_MAN = 25
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[27] function # Functions mapping
int8[26] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames

1
msg/vehicle_control_mode.msg
View File

@ -8,7 +8,6 @@ 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_rattitude_enabled # true if rate/attitude stabilization is enabled
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

2
msg/vehicle_status.msg
View File

@ -37,7 +37,7 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_UNUSED2 = 16 # Free slot
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow

4
src/drivers/osd/atxxxx/atxxxx.cpp
View File

@ -424,10 +424,6 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state)
case vehicle_status_s::NAVIGATION_STATE_STAB:
flight_mode = "STABILIZED";
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
flight_mode = "RATTITUDE";
break;
}
return flight_mode;

4
src/drivers/rc_input/crsf_telemetry.cpp
View File

@ -182,10 +182,6 @@ bool CRSFTelemetry::send_flight_mode()
case vehicle_status_s::NAVIGATION_STATE_STAB:
flight_mode = "Stabilized";
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
flight_mode = "Rattitude";
break;
}
return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode);

2
src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
View File

@ -115,8 +115,6 @@ uint16_t get_telemetry_flight_mode(int px4_flight_mode)
case 15: return 20; // stabilized
case 16: return 21; // rattitude
case 17: return 25; // takeoff
case 8:

33
src/modules/commander/Commander.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -321,9 +321,6 @@ int Commander::custom_command(int argc, char *argv[])
} else if (!strcmp(argv[1], "stabilized")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
} else if (!strcmp(argv[1], "rattitude")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_RATTITUDE);
} else if (!strcmp(argv[1], "auto:takeoff")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
@ -664,10 +661,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
/* ACRO */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
/* RATTITUDE */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
/* STABILIZED */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
@ -2790,7 +2783,6 @@ Commander::set_main_state_rc()
|| (_last_manual_control_switches.return_switch != _manual_control_switches.return_switch)
|| (_last_manual_control_switches.mode_switch != _manual_control_switches.mode_switch)
|| (_last_manual_control_switches.acro_switch != _manual_control_switches.acro_switch)
|| (_last_manual_control_switches.rattitude_switch != _manual_control_switches.rattitude_switch)
|| (_last_manual_control_switches.posctl_switch != _manual_control_switches.posctl_switch)
|| (_last_manual_control_switches.loiter_switch != _manual_control_switches.loiter_switch)
|| (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot)
@ -3044,16 +3036,6 @@ Commander::set_main_state_rc()
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
}
} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't need a
* rattitude mode.*/
if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
}
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
}
@ -3069,9 +3051,6 @@ Commander::set_main_state_rc()
} else if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
@ -3251,13 +3230,6 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_attitude_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
_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_rattitude_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;
@ -3360,7 +3332,6 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_auto_enabled = false;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_rattitude_enabled = false;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
@ -4059,7 +4030,7 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);

8
src/modules/commander/commander_params.c
View File

@ -405,7 +405,6 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -429,7 +428,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -453,7 +451,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -477,7 +474,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -501,7 +497,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -525,7 +520,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
@ -966,7 +960,7 @@ PARAM_DEFINE_INT32(COM_POWER_COUNT, 1);
*
* A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into
* a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
* The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW), Rattitude and Manual (FW).
* The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).
* A zero or negative value means that the check is disabled.
*
* @group Commander

6
src/modules/commander/failure_detector/FailureDetector.cpp
View File

@ -76,13 +76,11 @@ bool FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_statu
const uint8_t nav_state = vehicle_status.nav_state;
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
attitude_is_stabilized = nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO &&
nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
attitude_is_stabilized = nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
} else if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
attitude_is_stabilized = nav_state != vehicle_status_s::NAVIGATION_STATE_MANUAL &&
nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO &&
nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
}
return attitude_is_stabilized;

2
src/modules/commander/px4_custom_mode.h
View File

@ -50,7 +50,7 @@ enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
PX4_CUSTOM_MAIN_MODE_STABILIZED,
PX4_CUSTOM_MAIN_MODE_RATTITUDE,
PX4_CUSTOM_MAIN_MODE_RATTITUDE_LEGACY,
PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */
};

6
src/modules/commander/state_machine_helper.cpp
View File

@ -270,7 +270,6 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_STAB:
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_RATTITUDE:
ret = TRANSITION_CHANGED;
break;
@ -431,7 +430,6 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
switch (internal_state->main_state) {
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_RATTITUDE:
case commander_state_s::MAIN_STATE_STAB:
case commander_state_s::MAIN_STATE_ALTCTL:
@ -451,10 +449,6 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
break;
case commander_state_s::MAIN_STATE_RATTITUDE:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
break;
case commander_state_s::MAIN_STATE_STAB:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
break;

8
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -143,14 +143,6 @@ FixedwingAttitudeControl::vehicle_manual_poll()
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
// Check if we are in rattitude mode and the pilot is above the threshold on pitch
if (_vcontrol_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual_control_setpoint.y) > _param_fw_ratt_th.get()
|| fabsf(_manual_control_setpoint.x) > _param_fw_ratt_th.get()) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
if (_vcontrol_mode.flag_control_attitude_enabled) {

2
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
View File

@ -184,8 +184,6 @@ private:
(ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
(ParamFloat<px4::params::FW_RATT_TH>) _param_fw_ratt_th,
(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
(ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,
(ParamFloat<px4::params::FW_RLL_TO_YAW_FF>) _param_fw_rll_to_yaw_ff,

14
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -632,20 +632,6 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
*/
PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
/**
* Threshold for Rattitude mode
*
* Manual input needed in order to override attitude control rate setpoints
* and instead pass manual stick inputs as rate setpoints
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RATT_TH, 0.8f);
/**
* Roll trim increment at minimum airspeed
*

5
src/modules/mavlink/mavlink_messages.cpp
View File

@ -279,11 +279,6 @@ void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, ui
custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;

2
src/modules/mc_att_control/mc_att_control.hpp
View File

@ -148,8 +148,6 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
/* Stabilized mode params */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min, /**< minimum throttle for stabilized */

13
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -287,15 +287,6 @@ MulticopterAttitudeControl::Run()
}
}
/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
* or roll (yaw can rotate 360 in normal att control). If both are true don't
* even bother running the attitude controllers */
if (_v_control_mode.flag_control_rattitude_enabled) {
_v_control_mode.flag_control_attitude_enabled =
fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() &&
fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get();
}
bool attitude_setpoint_generated = false;
const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode);
@ -338,9 +329,7 @@ MulticopterAttitudeControl::Run()
// reset yaw setpoint during transitions, tailsitter.cpp generates
// attitude setpoint for the transition
_reset_yaw_sp = (!attitude_setpoint_generated && !_v_control_mode.flag_control_rattitude_enabled) ||
_landed || (_vtol && _vtol_in_transition_mode);
_reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode);
}
perf_end(_loop_perf);

14
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -146,20 +146,6 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
/**
* Threshold for Rattitude mode
*
* Manual input needed in order to override attitude control rate setpoints
* and instead pass manual stick inputs as rate setpoints
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
/**
* Manual tilt input filter time constant
* Setting this parameter to 0 disables the filter

8
src/modules/mc_rate_control/MulticopterRateControl.cpp
View File

@ -172,14 +172,6 @@ MulticopterRateControl::Run()
if (!_v_control_mode.flag_control_attitude_enabled) {
manual_rate_sp = true;
}
// Check if we are in rattitude mode and the pilot is within the center threshold on pitch and roll
// if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
if (_v_control_mode.flag_control_rattitude_enabled) {
manual_rate_sp =
(fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) ||
(fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get());
}
}
if (manual_rate_sp) {

2
src/modules/mc_rate_control/MulticopterRateControl.hpp
View File

@ -160,8 +160,6 @@ private:
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl

44
src/modules/rc_update/params.c
View File

@ -1391,34 +1391,6 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Rattitude switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
/**
* Position Control switch channel
*
@ -2044,22 +2016,6 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting rattitude mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_RATT_TH, 0.75f);
/**
* Threshold for selecting posctl mode
*

3
src/modules/rc_update/rc_update.cpp
View File

@ -50,7 +50,6 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control
return (a.mode_slot == b.mode_slot &&
a.mode_switch == b.mode_switch &&
a.return_switch == b.return_switch &&
a.rattitude_switch == b.rattitude_switch &&
a.posctl_switch == b.posctl_switch &&
a.loiter_switch == b.loiter_switch &&
a.acro_switch == b.acro_switch &&
@ -168,7 +167,6 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_RATTITUDE] = _param_rc_map_ratt_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
@ -541,7 +539,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
// only used with legacy mode switch
switches.man_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_MAN, _param_rc_man_th.get());
switches.acro_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ACRO, _param_rc_acro_th.get());
switches.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RATTITUDE, _param_rc_ratt_th.get());
switches.stab_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_STAB, _param_rc_stab_th.get());
switches.posctl_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_POSCTL, _param_rc_posctl_th.get());
}

2
src/modules/rc_update/rc_update.h
View File

@ -206,7 +206,6 @@ private:
(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
(ParamInt<px4::params::RC_MAP_RATT_SW>) _param_rc_map_ratt_sw,
(ParamInt<px4::params::RC_MAP_POSCTL_SW>) _param_rc_map_posctl_sw,
(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
(ParamInt<px4::params::RC_MAP_ACRO_SW>) _param_rc_map_acro_sw,
@ -229,7 +228,6 @@ private:
(ParamFloat<px4::params::RC_ASSIST_TH>) _param_rc_assist_th,
(ParamFloat<px4::params::RC_AUTO_TH>) _param_rc_auto_th,
(ParamFloat<px4::params::RC_RATT_TH>) _param_rc_ratt_th,
(ParamFloat<px4::params::RC_POSCTL_TH>) _param_rc_posctl_th,
(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
(ParamFloat<px4::params::RC_ACRO_TH>) _param_rc_acro_th,