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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-25 23:01:55 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-25 23:01:55 +0200 |
| commit | 1edc36bfd494a3a8bff967592774ce75ca4ce151 (patch) | |
| tree | 04d6060ef82e969d6bc0ec0314bb56a46bef8f04 /src/examples/fixedwing_control | |
| parent | bc7a7167ae955a810299831a8504bac7c9cd60fb (diff) | |
| download | px4-firmware-1edc36bfd494a3a8bff967592774ce75ca4ce151.tar.gz px4-firmware-1edc36bfd494a3a8bff967592774ce75ca4ce151.tar.bz2 px4-firmware-1edc36bfd494a3a8bff967592774ce75ca4ce151.zip | |
More documentation
Diffstat (limited to 'src/examples/fixedwing_control')
| -rw-r--r-- | src/examples/fixedwing_control/main.c | 24 |
1 files changed, 17 insertions, 7 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index 9fd11062a..89fbef020 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -33,10 +33,13 @@ ****************************************************************************/ /** * @file main.c - * Implementation of a fixed wing attitude controller. This file is a complete - * fixed wing controller flying manual attitude control or auto waypoint control. + * + * Example implementation of a fixed wing attitude controller. This file is a complete + * fixed wing controller for manual attitude control or auto waypoint control. * There is no need to touch any other system components to extend / modify the * complete control architecture. + * + * @author Lorenz Meier <lm@inf.ethz.ch> */ #include <nuttx/config.h> @@ -60,7 +63,6 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/debug_key_value.h> #include <uORB/topics/parameter_update.h> #include <systemlib/param/param.h> #include <systemlib/pid/pid.h> @@ -306,7 +308,10 @@ int fixedwing_control_thread_main(int argc, char *argv[]) int ret = poll(fds, 2, 500); if (ret < 0) { - /* poll error, this will not really happen in practice */ + /* + * Poll error, this will not really happen in practice, + * but its good design practice to make output an error message. + */ warnx("poll error"); } else if (ret == 0) { @@ -332,6 +337,8 @@ int fixedwing_control_thread_main(int argc, char *argv[]) orb_check(global_pos_sub, &pos_updated); bool global_sp_updated; orb_check(global_sp_sub, &global_sp_updated); + bool manual_sp_updated; + orb_check(manual_sp_sub, &manual_sp_updated); /* get a local copy of attitude */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); @@ -357,10 +364,11 @@ int fixedwing_control_thread_main(int argc, char *argv[]) } } - /* get the RC (or otherwise user based) input */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); + if (manual_sp_updated) + /* get the RC (or otherwise user based) input */ + orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - /* check if the throttle was ever more than 50% - go only to failsafe if yes */ + /* check if the throttle was ever more than 50% - go later only to failsafe if yes */ if (isfinite(manual_sp.throttle) && (manual_sp.throttle >= 0.6f) && (manual_sp.throttle <= 1.0f)) { @@ -372,6 +380,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* control */ + /* if in auto mode, fly global position setpoint */ if (vstatus.state_machine == SYSTEM_STATE_AUTO || vstatus.state_machine == SYSTEM_STATE_STABILIZED) { @@ -391,6 +400,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* set flaps to zero */ actuators.control[4] = 0.0f; + /* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */ } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { |