diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 85 |
1 files changed, 30 insertions, 55 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 242d8a486..5a362666c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -65,7 +65,7 @@ #include <uORB/topics/sensor_combined.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/offboard_control_mode.h> #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_local_position.h> @@ -180,7 +180,7 @@ static struct vehicle_status_s status; static struct actuator_armed_s armed; static struct safety_s safety; static struct vehicle_control_mode_s control_mode; -static struct offboard_control_setpoint_s sp_offboard; +static struct offboard_control_mode_s offboard_control_mode; /* tasks waiting for low prio thread */ typedef enum { @@ -1016,8 +1016,8 @@ int commander_thread_main(int argc, char *argv[]) memset(&sp_man, 0, sizeof(sp_man)); /* Subscribe to offboard control data */ - int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - memset(&sp_offboard, 0, sizeof(sp_offboard)); + int offboard_control_mode_sub = orb_subscribe(ORB_ID(offboard_control_mode)); + memset(&offboard_control_mode, 0, sizeof(offboard_control_mode)); /* Subscribe to telemetry status topics */ int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM]; @@ -1227,14 +1227,14 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); } - orb_check(sp_offboard_sub, &updated); + orb_check(offboard_control_mode_sub, &updated); if (updated) { - orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); + orb_copy(ORB_ID(offboard_control_mode), offboard_control_mode_sub, &offboard_control_mode); } - if (sp_offboard.timestamp != 0 && - sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) { + if (offboard_control_mode.timestamp != 0 && + offboard_control_mode.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) { if (status.offboard_control_signal_lost) { status.offboard_control_signal_lost = false; status_changed = true; @@ -2051,7 +2051,7 @@ int commander_thread_main(int argc, char *argv[]) led_deinit(); buzzer_deinit(); close(sp_man_sub); - close(sp_offboard_sub); + close(offboard_control_mode_sub); close(local_position_sub); close(global_position_sub); close(gps_sub); @@ -2426,56 +2426,31 @@ set_control_mode() control_mode.flag_control_auto_enabled = false; control_mode.flag_control_offboard_enabled = true; - switch (sp_offboard.mode) { - case OFFBOARD_CONTROL_MODE_DIRECT_RATES: - 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; + /* + * The control flags depend on what is ignored according to the offboard control mode topic + * Inner loop flags (e.g. attitude) also depend on outer loop ignore flags (e.g. position) + */ + control_mode.flag_control_rates_enabled = !offboard_control_mode.ignore_bodyrate || + !offboard_control_mode.ignore_attitude || + !offboard_control_mode.ignore_position || + !offboard_control_mode.ignore_velocity || + !offboard_control_mode.ignore_acceleration_force; - case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - 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; + control_mode.flag_control_attitude_enabled = !offboard_control_mode.ignore_attitude || + !offboard_control_mode.ignore_position || + !offboard_control_mode.ignore_velocity || + !offboard_control_mode.ignore_acceleration_force; - case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_force_enabled = true; - 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; - case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; - //XXX: the flags could depend on sp_offboard.ignore - break; + control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity || + !offboard_control_mode.ignore_position; - default: - control_mode.flag_control_rates_enabled = false; - 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; - } + control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity || + !offboard_control_mode.ignore_position; + + control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position; + + control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position; break; |