Merge branch 'master' into new_state_machine_drton

1 files changed, 57 insertions, 0 deletions

diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
new file mode 100644
index 000000000..b1dc39445
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -0,0 +1,57 @@
+#include "BlockSegwayController.hpp"
+
+void BlockSegwayController::update() {
+	// wait for a sensor update, check for exit condition every 100 ms
+	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+
+	uint64_t newTimeStamp = hrt_absolute_time();
+	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
+	_timeStamp = newTimeStamp;
+
+	// check for sane values of dt
+	// to prevent large control responses
+	if (dt > 1.0f || dt < 0) return;
+
+	// set dt for all child blocks
+	setDt(dt);
+
+	// check for new updates
+	if (_param_update.updated()) updateParams();
+
+	// get new information from subscriptions
+	updateSubscriptions();
+
+	// default all output to zero unless handled by mode
+	for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	// only update guidance in auto mode
+	if (_status.state_machine == SYSTEM_STATE_AUTO) {
+		// update guidance
+	}
+
+	// compute speed command
+	float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed);
+
+	// handle autopilot modes
+	if (_status.state_machine == SYSTEM_STATE_AUTO ||
+	    _status.state_machine == SYSTEM_STATE_STABILIZED) {
+		_actuators.control[0] = spdCmd;
+		_actuators.control[1] = spdCmd;
+
+	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			_actuators.control[CH_LEFT] = _manual.throttle;
+			_actuators.control[CH_RIGHT] = _manual.pitch;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+			_actuators.control[0] = spdCmd;
+			_actuators.control[1] = spdCmd;
+		}
+	}
+
+	// update all publications
+	updatePublications();
+
+}
+