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px4-firmware
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VTOL state check for attitude setpoint publish

This commit is contained in:
Ildar Sadykov 2019-10-09 16:09:33 +03:00 committed by Nuno Marques
parent 35b0778499
commit c8edac0a1d
2 changed files with 42 additions and 25 deletions
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62
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -99,6 +99,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
} else {
_is_vtol = false;
}
}
void
@ -1401,36 +1402,47 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
// Fill correct field by checking frametype
// TODO: add as needed
switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
if (!_is_vtol) {
// Fill correct field by checking frametype
// TODO: add as needed
switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
case MAV_TYPE_FIXED_WING:
att_sp.thrust_body[0] = set_attitude_target.thrust;
break;
case MAV_TYPE_FIXED_WING:
att_sp.thrust_body[0] = set_attitude_target.thrust;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
att_sp.thrust_body[2] = -set_attitude_target.thrust;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
att_sp.thrust_body[2] = -set_attitude_target.thrust;
break;
case MAV_TYPE_GROUND_ROVER:
att_sp.thrust_body[0] = set_attitude_target.thrust;
break;
case MAV_TYPE_GROUND_ROVER:
att_sp.thrust_body[0] = set_attitude_target.thrust;
break;
}
_att_sp_pub.publish(att_sp);
} else {
if (_vtol_vehicle_status_sub.updated()) {
_vtol_vehicle_status_sub.copy(&_vtol_vehicle_status);
}
if (_vtol_vehicle_status.vtol_in_rw_mode) {
att_sp.thrust_body[2] = -set_attitude_target.thrust;
_mc_virtual_att_sp_pub.publish(att_sp);
} else {
att_sp.thrust_body[0] = set_attitude_target.thrust;
_fw_virtual_att_sp_pub.publish(att_sp);
}
}
}
if (!_is_vtol) {
_att_sp_pub.publish(att_sp);
} else {
_mc_virtual_att_sp_pub.publish(att_sp);
}
}
/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */

5
src/modules/mavlink/mavlink_receiver.h
View File

@ -97,6 +97,7 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
class Mavlink;
@ -230,6 +231,7 @@ private:
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _mc_virtual_att_sp_pub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _fw_virtual_att_sp_pub{ORB_ID(fw_virtual_attitude_setpoint)};
uORB::Publication<vehicle_global_position_s> _global_pos_pub{ORB_ID(vehicle_global_position)};
uORB::Publication<vehicle_gps_position_s> _gps_pub{ORB_ID(vehicle_gps_position)};
uORB::Publication<vehicle_land_detected_s> _land_detector_pub{ORB_ID(vehicle_land_detected)};
@ -263,6 +265,7 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
static constexpr unsigned int MOM_SWITCH_COUNT{8};
uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
@ -278,6 +281,8 @@ private:
bool _is_vtol{false};
vtol_vehicle_status_s _vtol_vehicle_status{};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,