Abs yaw and other bugs fixed

1 files changed, 108 insertions, 91 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 09710f0fc..258299828 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -241,123 +241,140 @@ mc_thread_main(int argc, char *argv[])
 
 
 				} else if (state.flag_control_manual_enabled) {
+					/* direct manual input */
+					if (state.flag_control_attitude_enabled) {
+						/* Control attitude, update attitude setpoint depending on SAS mode:
+						 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS: roll, pitch, yaw, thrust
+						 * VEHICLE_MANUAL_SAS_MODE_ALTITUDE: roll, pitch, yaw
+						 * VEHICLE_MANUAL_SAS_MODE_SIMPLE: yaw
+						 * */
+
+						/* initialize to current yaw if switching to manual or att control */
+						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
+							state.flag_control_manual_enabled != flag_control_manual_enabled ||
+							state.flag_system_armed != flag_system_armed) {
+							att_sp.yaw_body = att.yaw;
+						}
 
-					if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS) {
-						/* direct manual input */
-						if (state.flag_control_attitude_enabled) {
-
-							/* initialize to current yaw if switching to manual or att control */
-							if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-								state.flag_control_manual_enabled != flag_control_manual_enabled ||
-								state.flag_system_armed != flag_system_armed) {
-								att_sp.yaw_body = att.yaw;
-							}
-
-							static bool rc_loss_first_time = true;
+						static bool rc_loss_first_time = true;
 
-							/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-							if (state.rc_signal_lost) {
-								/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
-								param_get(failsafe_throttle_handle, &failsafe_throttle);
+						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+						if (state.rc_signal_lost) {
+							if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
+								/* Don't reset attitude setpoint in SIMPLE SAS mode, it's handled by position controller. */
 								att_sp.roll_body = 0.0f;
 								att_sp.pitch_body = 0.0f;
 
-								/*
-								 * Only go to failsafe throttle if last known throttle was
-								 * high enough to create some lift to make hovering state likely.
-								 *
-								 * This is to prevent that someone landing, but not disarming his
-								 * multicopter (throttle = 0) does not make it jump up in the air
-								 * if shutting down his remote.
-								 */
-								if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
-									att_sp.thrust = failsafe_throttle;
+								if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ALTITUDE) {
+									/* Don't touch throttle in modes with altitude hold, it's handled by position controller.
+									 *
+									 * Only go to failsafe throttle if last known throttle was
+									 * high enough to create some lift to make hovering state likely.
+									 *
+									 * This is to prevent that someone landing, but not disarming his
+									 * multicopter (throttle = 0) does not make it jump up in the air
+									 * if shutting down his remote.
+									 */
+									if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+										/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
+										param_get(failsafe_throttle_handle, &failsafe_throttle);
+										att_sp.thrust = failsafe_throttle;
 
-								} else {
-									att_sp.thrust = 0.0f;
+									} else {
+										att_sp.thrust = 0.0f;
+									}
 								}
+							}
 
-								/* keep current yaw, do not attempt to go to north orientation,
-								 * since if the pilot regains RC control, he will be lost regarding
-								 * the current orientation.
-								 */
-								if (rc_loss_first_time)
-									att_sp.yaw_body = att.yaw;
+							/* keep current yaw, do not attempt to go to north orientation,
+							 * since if the pilot regains RC control, he will be lost regarding
+							 * the current orientation.
+							 */
+							if (rc_loss_first_time)
+								att_sp.yaw_body = att.yaw;
 
-								rc_loss_first_time = false;
+							rc_loss_first_time = false;
 
-							} else {
-								rc_loss_first_time = true;
+						} else {
+							rc_loss_first_time = true;
 
-								att_sp.roll_body = manual.roll;
-								att_sp.pitch_body = manual.pitch;
+							/* control yaw in all SAS modes */
+							/* set yaw if arming */
+							if (!flag_control_attitude_enabled && state.flag_system_armed) {
+								att_sp.yaw_body = att.yaw;
+							}
 
-								/* set attitude if arming */
-								if (!flag_control_attitude_enabled && state.flag_system_armed) {
-									att_sp.yaw_body = att.yaw;
-								}
+							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
+							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
+								state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
 
-								/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
-								if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
-									state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
 
-									if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
+								} else {
+									/*
+									 * This mode SHOULD be the default mode, which is:
+									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
+									 *
+									 * However, we fall back to this setting for all other (nonsense)
+									 * settings as well.
+									 */
+
+									/* only move setpoint if manual input is != 0 */
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && (
+											state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS ||
+											manual.throttle > 0.3f)) {
 										rates_sp.yaw = manual.yaw;
 										control_yaw_position = false;
+										first_time_after_yaw_speed_control = true;
 
 									} else {
-										/*
-										 * This mode SHOULD be the default mode, which is:
-										 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
-										 *
-										 * However, we fall back to this setting for all other (nonsense)
-										 * settings as well.
-										 */
-
-										/* only move setpoint if manual input is != 0 */
-										if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
-											rates_sp.yaw = manual.yaw;
-											control_yaw_position = false;
-											first_time_after_yaw_speed_control = true;
-
-										} else {
-											if (first_time_after_yaw_speed_control) {
-												att_sp.yaw_body = att.yaw;
-												first_time_after_yaw_speed_control = false;
-											}
-
-											control_yaw_position = true;
+										if (first_time_after_yaw_speed_control) {
+											att_sp.yaw_body = att.yaw;
+											first_time_after_yaw_speed_control = false;
 										}
+
+										control_yaw_position = true;
 									}
 								}
-
-								att_sp.thrust = manual.throttle;
-								att_sp.timestamp = hrt_absolute_time();
 							}
 
-							if (motor_test_mode) {
-								printf("testmode");
-								att_sp.roll_body = 0.0f;
-								att_sp.pitch_body = 0.0f;
-								att_sp.yaw_body = 0.0f;
-								att_sp.thrust = 0.1f;
-								att_sp.timestamp = hrt_absolute_time();
+							if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_SIMPLE) {
+								/* don't update attitude setpoint in SIMPLE SAS mode */
+								att_sp.roll_body = manual.roll;
+								att_sp.pitch_body = manual.pitch;
+								if (state.manual_sas_mode != VEHICLE_MANUAL_SAS_MODE_ALTITUDE) {
+									/* don't set throttle in alt hold modes */
+									att_sp.thrust = manual.throttle;
+								}
 							}
 
-							/* STEP 2: publish the controller output */
-							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+							att_sp.timestamp = hrt_absolute_time();
+						}
 
-						} else {
-							/* manual rate inputs, from RC control or joystick */
-							if (state.flag_control_rates_enabled &&
-								state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
-								rates_sp.roll = manual.roll;
-
-								rates_sp.pitch = manual.pitch;
-								rates_sp.yaw = manual.yaw;
-								rates_sp.thrust = manual.throttle;
-								rates_sp.timestamp = hrt_absolute_time();
-							}
+						if (motor_test_mode) {
+							printf("testmode");
+							att_sp.roll_body = 0.0f;
+							att_sp.pitch_body = 0.0f;
+							att_sp.yaw_body = 0.0f;
+							att_sp.thrust = 0.1f;
+							att_sp.timestamp = hrt_absolute_time();
+						}
+
+						/* STEP 2: publish the controller output */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+					} else {
+						/* manual rate inputs, from RC control or joystick */
+						if (state.flag_control_rates_enabled &&
+							state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
+							rates_sp.roll = manual.roll;
+
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
 						}
 					}
 				}