is_vtol flag in vehicle_status

Getting rid of the autostart based checks if the system is a vtol
Fixes #1503

4 files changed, 40 insertions, 33 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 744323c01..8d2e62e32 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -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;
 
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 8d18ae68c..72d9a5452 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -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)
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 0702e6378..d864feb25 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -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);
+		}
 	}
 }
 
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 749d00d75..b4d5c7b88 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -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 */