diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-20 08:36:49 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-20 08:36:49 -0700 |
| commit | 639d86eab22abe8850120fa07dfa58b0b4bec377 (patch) | |
| tree | ac117f24f82817adce5d7407b9ab99bcd3038de0 /src/modules/commander | |
| parent | 4fdc01630832f5c7d2d571c1494d4b65f1a510fc (diff) | |
| parent | 559bfbb11cdac499cda8070c32e2b7e79b3b883e (diff) | |
| download | px4-firmware-639d86eab22abe8850120fa07dfa58b0b4bec377.tar.gz px4-firmware-639d86eab22abe8850120fa07dfa58b0b4bec377.tar.bz2 px4-firmware-639d86eab22abe8850120fa07dfa58b0b4bec377.zip | |
Merge pull request #979 from PX4/acro2
ACRO mode
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 25 | ||||
| -rw-r--r-- | src/modules/commander/px4_custom_mode.h | 1 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 4 |
3 files changed, 28 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 0b6f863ff..c26200048 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -453,6 +453,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ main_res = main_state_transition(status, MAIN_STATE_AUTO); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { + /* ACRO */ + main_res = main_state_transition(status, MAIN_STATE_ACRO); } } else { @@ -652,6 +656,7 @@ int commander_thread_main(int argc, char *argv[]) main_states_str[1] = "ALTCTL"; main_states_str[2] = "POSCTL"; main_states_str[3] = "AUTO"; + main_states_str[4] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[0] = "INIT"; @@ -1206,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { @@ -1619,7 +1624,12 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_OFF: // MANUAL - res = main_state_transition(status, MAIN_STATE_MANUAL); + if (sp_man->acro_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_ACRO); + + } else { + res = main_state_transition(status, MAIN_STATE_MANUAL); + } // TRANSITION_DENIED is not possible here break; @@ -1731,6 +1741,17 @@ set_control_mode() navigator_enabled = true; break; + case MAIN_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + default: break; } diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index a83c81850..e0f8dc95d 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -15,6 +15,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_ALTCTL, PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_AUTO, + PX4_CUSTOM_MAIN_MODE_ACRO, }; enum PX4_CUSTOM_SUB_MODE_AUTO { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index abcf72717..f1a353d5b 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -222,6 +222,10 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; + case MAIN_STATE_ACRO: + ret = TRANSITION_CHANGED; + break; + case MAIN_STATE_ALTCTL: /* need at minimum altitude estimate */ |