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Updated segway controller for new state machine.

This commit is contained in:
James Goppert 2013-10-22 05:43:10 -04:00
parent 108d723a49
commit d143e827dc
3 changed files with 9 additions and 8 deletions
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2
makefiles/config_px4fmu-v1_default.mk
View File

@ -79,7 +79,7 @@ MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
#MODULES += modules/segway # XXX needs state machine update
MODULES += modules/segway
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control

2
makefiles/config_px4fmu-v2_default.mk
View File

@ -78,7 +78,7 @@ MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
#MODULES += modules/segway # XXX needs state machine update
MODULES += modules/segway
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control

13
src/modules/segway/BlockSegwayController.cpp
View File

@ -26,7 +26,7 @@ void BlockSegwayController::update() {
_actuators.control[i] = 0.0f;
// only update guidance in auto mode
if (_status.state_machine == SYSTEM_STATE_AUTO) {
if (_status.main_state == MAIN_STATE_AUTO) {
// update guidance
}
@ -34,17 +34,18 @@ void BlockSegwayController::update() {
float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed);
// handle autopilot modes
if (_status.state_machine == SYSTEM_STATE_AUTO ||
_status.state_machine == SYSTEM_STATE_STABILIZED) {
if (_status.main_state == MAIN_STATE_AUTO ||
_status.main_state == MAIN_STATE_SEATBELT ||
_status.main_state == MAIN_STATE_EASY) {
_actuators.control[0] = spdCmd;
_actuators.control[1] = spdCmd;
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
} else if (_status.main_state == MAIN_STATE_MANUAL) {
if (_status.navigation_state == NAVIGATION_STATE_DIRECT) {
_actuators.control[CH_LEFT] = _manual.throttle;
_actuators.control[CH_RIGHT] = _manual.pitch;
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
} else if (_status.navigation_state == NAVIGATION_STATE_STABILIZE) {
_actuators.control[0] = spdCmd;
_actuators.control[1] = spdCmd;
}