diff options
| author | Julian Oes <joes@student.ethz.ch> | 2013-02-16 13:40:09 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-16 13:40:09 -0800 |
| commit | 0e2db0beb9228720a40bd19a7bd8891e5a8fdaba (patch) | |
| tree | ff49a98efd4bf9540b287820fb6812c6adac3fe1 /apps/controllib/fixedwing.cpp | |
| parent | 2d1009a89727582bc38093c67b930015cdbcc353 (diff) | |
| download | px4-firmware-0e2db0beb9228720a40bd19a7bd8891e5a8fdaba.tar.gz px4-firmware-0e2db0beb9228720a40bd19a7bd8891e5a8fdaba.tar.bz2 px4-firmware-0e2db0beb9228720a40bd19a7bd8891e5a8fdaba.zip | |
Checkpoint: implement new state machine, compiling, WIP
Diffstat (limited to 'apps/controllib/fixedwing.cpp')
| -rw-r--r-- | apps/controllib/fixedwing.cpp | 33 |
1 files changed, 17 insertions, 16 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index d9637b4a7..9a6919535 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -39,6 +39,7 @@ #include "fixedwing.hpp" + namespace control { @@ -294,7 +295,7 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[i] = 0.0f; // only update guidance in auto mode - if (_status.state_machine == SYSTEM_STATE_AUTO) { + if (_status.navigation_state == NAVIGATION_STATE_MISSION) { // update guidance _guide.update(_pos, _att, _posCmd, _lastPosCmd); } @@ -304,8 +305,8 @@ void BlockMultiModeBacksideAutopilot::update() // the setpoint should update to loitering around this position // handle autopilot modes - if (_status.state_machine == SYSTEM_STATE_AUTO || - _status.state_machine == SYSTEM_STATE_STABILIZED) { + if (_status.navigation_state == NAVIGATION_STATE_MISSION || + _status.navigation_state == NAVIGATION_STATE_MANUAL) { // update guidance _guide.update(_pos, _att, _posCmd, _lastPosCmd); @@ -340,25 +341,25 @@ void BlockMultiModeBacksideAutopilot::update() } - } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { - - if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + } else if (_status.navigation_state == NAVIGATION_STATE_MANUAL) { +// if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { +#warning fix the different manual modes _actuators.control[CH_AIL] = _manual.roll; _actuators.control[CH_ELV] = _manual.pitch; _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - - _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = - _stabilization.getElevator(); - _actuators.control[CH_RDR] = _stabilization.getRudder(); - _actuators.control[CH_THR] = _manual.throttle; - } +// } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { +// +// _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, +// _att.rollspeed, _att.pitchspeed, _att.yawspeed); +// +// _actuators.control[CH_AIL] = _stabilization.getAileron(); +// _actuators.control[CH_ELV] = - _stabilization.getElevator(); +// _actuators.control[CH_RDR] = _stabilization.getRudder(); +// _actuators.control[CH_THR] = _manual.throttle; +// } } // update all publications |