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FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-06-16 15:07:04 +02:00
parent 2374937388
commit d9585bf3d3
2 changed files with 13 additions and 5 deletions
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12
src/modules/fw_rate_control/FixedwingRateControl.cpp
View File

@ -48,6 +48,8 @@ FixedwingRateControl::FixedwingRateControl(bool vtol) :
_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)), _vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{ {
_handle_param_vt_fw_difthr_en = param_find("VT_FW_DIFTHR_EN");
/* fetch initial parameter values */ /* fetch initial parameter values */
parameters_update(); parameters_update();
@ -86,6 +88,10 @@ FixedwingRateControl::parameters_update()
// set FF gains to 0 as we add the FF control outside of the rate controller // set FF gains to 0 as we add the FF control outside of the rate controller
Vector3f(0.f, 0.f, 0.f)); Vector3f(0.f, 0.f, 0.f));
if (_handle_param_vt_fw_difthr_en != PARAM_INVALID) {
param_get(_handle_param_vt_fw_difthr_en, &_param_vt_fw_difthr_en);
}
return PX4_OK; return PX4_OK;
} }
@ -281,9 +287,9 @@ void FixedwingRateControl::Run()
// Update saturation status from control allocation feedback // Update saturation status from control allocation feedback
// TODO: send the unallocated value directly for better anti-windup // TODO: send the unallocated value directly for better anti-windup
Vector3<bool> diffthr_enabled( Vector3<bool> diffthr_enabled(
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::ROLL_BIT), _param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::ROLL_BIT),
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::PITCH_BIT), _param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::PITCH_BIT),
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::YAW_BIT) _param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::YAW_BIT)
); );
if (_vehicle_status.is_vtol_tailsitter) { if (_vehicle_status.is_vtol_tailsitter) {

6
src/modules/fw_rate_control/FixedwingRateControl.hpp
View File

@ -151,6 +151,9 @@ private:
PITCH_BIT = (1 << 2), PITCH_BIT = (1 << 2),
}; };
param_t _handle_param_vt_fw_difthr_en{PARAM_INVALID};
int32_t _param_vt_fw_difthr_en{0};
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max, (ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max, (ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
@ -200,8 +203,7 @@ private:
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll, (ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw, (ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man, (ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en
) )
RateControl _rate_control; ///< class for rate control calculations RateControl _rate_control; ///< class for rate control calculations