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#include "BlockSegwayController.hpp"
void BlockSegwayController::update() {
// wait for a sensor update, check for exit condition every 100 ms
if (poll(&_attPoll, 1, 100) < 0) return; // poll error
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// check for sane values of dt
// to prevent large control responses
if (dt > 1.0f || dt < 0) return;
// set dt for all child blocks
setDt(dt);
// check for new updates
if (_param_update.updated()) updateParams();
// get new information from subscriptions
updateSubscriptions();
// default all output to zero unless handled by mode
for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
_actuators.control[i] = 0.0f;
// only update guidance in auto mode
if (_status.main_state == MAIN_STATE_AUTO) {
// update guidance
}
// compute speed command
float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed);
// handle autopilot modes
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.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.navigation_state == NAVIGATION_STATE_STABILIZE) {
_actuators.control[0] = spdCmd;
_actuators.control[1] = spdCmd;
}
}
// update all publications
updatePublications();
}
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