diff options
author | tumbili <bapstr@ethz.ch> | 2014-12-31 16:25:15 +0100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-31 16:40:16 +0100 |
commit | 72eafad5104ca0919f822fe44391c69f1ca80e8c (patch) | |
tree | dfe80337b5b0b8521a696986577e0167ce8dd30a | |
parent | 57ca716402c5f1bc0612532cbb0bd04edbb87ac4 (diff) | |
download | px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.tar.gz px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.tar.bz2 px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.zip |
introduced vtol_fw_permanent stabilization: allows vtol to be attitude-stabilized in manual mode
-rw-r--r-- | src/modules/commander/commander.cpp | 6 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vtol_vehicle_status.h | 1 | ||||
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 12 | ||||
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_params.c | 12 |
5 files changed, 30 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dc0594bf2..086f291f6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1267,7 +1267,7 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { /* vtol status changed */ orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); - + status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; /* Make sure that this is only adjusted if vehicle realy is of type vtol*/ if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) { status.is_rotary_wing = vtol_status.vtol_in_rw_mode; @@ -2246,8 +2246,8 @@ set_control_mode() case NAVIGATION_STATE_MANUAL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = status.is_rotary_wing; - control_mode.flag_control_attitude_enabled = status.is_rotary_wing; + control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); + control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); control_mode.flag_control_altitude_enabled = false; control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_position_enabled = false; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index b4d5c7b88..b56e81e04 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -189,6 +189,8 @@ struct vehicle_status_s { this is only true while flying as a multicopter */ bool is_vtol; /**< True if the system is VTOL capable */ + bool vtol_fw_permanent_stab; /**< True if vtol should stabilize attitude for fw in manual mode */ + bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h index 24ecca9fa..7b4e22bc8 100644 --- a/src/modules/uORB/topics/vtol_vehicle_status.h +++ b/src/modules/uORB/topics/vtol_vehicle_status.h @@ -54,6 +54,7 @@ struct vtol_vehicle_status_s { uint64_t timestamp; /**< Microseconds since system boot */ bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */ + bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/ }; /** diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 9a80562f3..10a3950ac 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -134,6 +134,7 @@ private: struct { param_t idle_pwm_mc; //pwm value for idle in mc mode param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; // in fw mode stabilize attitude also in manual mode float mc_airspeed_min; // min airspeed in multicoper mode (including prop-wash) float mc_airspeed_trim; // trim airspeed in multicopter mode float mc_airspeed_max; // max airpseed in multicopter mode @@ -142,6 +143,7 @@ private: struct { param_t idle_pwm_mc; param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; param_t mc_airspeed_min; param_t mc_airspeed_trim; param_t mc_airspeed_max; @@ -234,9 +236,11 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; + _params.vtol_fw_permanent_stab = 0; _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); _params_handles.vtol_motor_count = param_find("VT_MOT_COUNT"); + _params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB"); _params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN"); _params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX"); _params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM"); @@ -411,6 +415,9 @@ VtolAttitudeControl::parameters_update() /* vtol motor count */ param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count); + /* vtol fw permanent stabilization */ + param_get(_params_handles.vtol_fw_permanent_stab, &_params.vtol_fw_permanent_stab); + /* vtol mc mode min airspeed */ param_get(_params_handles.mc_airspeed_min, &v); _params.mc_airspeed_min = v; @@ -597,6 +604,9 @@ void VtolAttitudeControl::task_main() parameters_update(); // initialize parameter cache + /* update vtol vehicle status*/ + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + // make sure we start with idle in mc mode set_idle_mc(); flag_idle_mc = true; @@ -647,6 +657,8 @@ void VtolAttitudeControl::task_main() parameters_update(); } + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + vehicle_control_mode_poll(); //Check for changes in vehicle control mode. vehicle_manual_poll(); //Check for changes in manual inputs. arming_status_poll(); //Check for arming status updates. diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index e21bccb0c..0ab446317 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -86,3 +86,15 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f); */ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f); +/** + * Permanent stabilization in fw mode + * + * If set to one this parameter will cause permanent attitude stabilization in fw mode. + * This parameter has been introduced for pure convenience sake. + * + * @min 0.0 + * @max 1.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0); + |