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is_vtol flag in vehicle_status 

Getting rid of the autostart based checks if the system is a vtol
Fixes #1503
This commit is contained in:
Thomas Gubler 2014-12-18 14:46:31 +01:00
parent 6e874bed50
commit e18065081a
4 changed files with 40 additions and 33 deletions
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18
src/modules/commander/commander.cpp
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@ -1092,6 +1092,11 @@ int commander_thread_main(int argc, char *argv[])
status.is_rotary_wing = false;
}
/* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
@ -1113,6 +1118,8 @@ int commander_thread_main(int argc, char *argv[])
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
/* Safety parameters */
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
@ -1121,6 +1128,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
/* Autostart id */
param_get(_param_autostart_id, &autostart_id);
}
@ -2217,14 +2226,7 @@ set_control_mode()
{
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
/* TODO: check this */
if (autostart_id < 13000 || autostart_id >= 14000) {
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
} else {
control_mode.flag_external_manual_override_ok = false;
}
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing && !status.is_vtol;
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;

32
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -338,6 +338,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
@ -400,15 +403,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
@ -600,6 +594,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
@ -700,11 +702,11 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_parameters.autostart_id >= 13000
&& _parameters.autostart_id <= 13999) { //vehicle type is VTOL, need to modify attitude!
/* The following modification to the attitude is vehicle specific and in this case applies
to tail-sitter models !!!
if (_vehicle_status.is_vtol) {
/* vehicle type is VTOL, need to modify attitude!
* The following modification to the attitude is vehicle specific and in this case applies
* to tail-sitter models !!!
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
@ -849,7 +851,7 @@ FixedwingAttitudeControl::task_main()
_yaw_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/*
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)

19
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -285,6 +285,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
_actuators_0_circuit_breaker_enabled(false),
@ -348,15 +350,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
@ -531,6 +524,14 @@ MulticopterAttitudeControl::vehicle_status_poll()
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}

4
src/modules/uORB/topics/vehicle_status.h
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@ -185,7 +185,9 @@ struct vehicle_status_s {
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
bool is_rotary_wing;
bool is_rotary_wing; /**< True if system is in rotary wing configuration, so for a VTOL
this is only true while flying as a multicopter */
bool is_vtol; /**< True if the system is VTOL capable */
bool condition_battery_voltage_valid;
bool condition_system_in_air_restore; /**< true if we can restore in mid air */