diff options
Diffstat (limited to 'src/examples/flow_position_control')
| -rw-r--r-- | src/examples/flow_position_control/flow_position_control_main.c | 21 |
1 files changed, 11 insertions, 10 deletions
diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index 5246ea62b..ecc133f63 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -55,7 +55,8 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_local_position.h> @@ -158,7 +159,8 @@ flow_position_control_thread_main(int argc, char *argv[]) const float time_scale = powf(10.0f,-6.0f); /* structures */ - struct vehicle_status_s vstatus; + struct actuator_safety_s safety; + struct vehicle_control_mode_s control_mode; struct vehicle_attitude_s att; struct manual_control_setpoint_s manual; struct filtered_bottom_flow_s filtered_flow; @@ -169,7 +171,8 @@ flow_position_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -258,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); /* get a local copy of attitude */ @@ -268,9 +271,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* get a local copy of local position */ orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos); -// XXX fix this -#if 0 - if (vstatus.state_machine == SYSTEM_STATE_AUTO) + if (control_mode.flag_control_velocity_enabled) { float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1 float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1 @@ -492,7 +493,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* store actual height for speed estimation */ last_local_pos_z = local_pos.z; - speed_sp.thrust_sp = thrust_control; + speed_sp.thrust_sp = thrust_control; //manual.throttle; speed_sp.timestamp = hrt_absolute_time(); /* publish new speed setpoint */ @@ -529,7 +530,6 @@ flow_position_control_thread_main(int argc, char *argv[]) if(isfinite(manual.throttle)) speed_sp.thrust_sp = manual.throttle; } -#endif /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); perf_end(mc_loop_perf); @@ -578,7 +578,8 @@ flow_position_control_thread_main(int argc, char *argv[]) close(parameter_update_sub); close(vehicle_attitude_sub); close(vehicle_local_position_sub); - close(vehicle_status_sub); + close(safety_sub); + close(control_mode_sub); close(manual_control_setpoint_sub); close(speed_sp_pub); |