diff options
Diffstat (limited to 'src/modules/fixedwing_att_control/fixedwing_att_control_main.c')
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_main.c | 57 |
1 files changed, 27 insertions, 30 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c index 6c9c137bb..b6b4546c2 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c @@ -53,6 +53,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> @@ -116,6 +117,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) memset(&global_pos, 0, sizeof(global_pos)); struct manual_control_setpoint_s manual_sp; memset(&manual_sp, 0, sizeof(manual_sp)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_status_s vstatus; memset(&vstatus, 0, sizeof(vstatus)); @@ -137,7 +140,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; @@ -178,30 +182,16 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) } orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); gyro[0] = att.rollspeed; gyro[1] = att.pitchspeed; gyro[2] = att.yawspeed; - /* control */ - - if (vstatus.state_machine == SYSTEM_STATE_AUTO || - vstatus.state_machine == SYSTEM_STATE_STABILIZED) { - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* set flaps to zero */ - actuators.control[4] = 0.0f; - - } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { - if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + /* set manual setpoints if required */ + if (control_mode.flag_control_manual_enabled) { + if (control_mode.flag_control_attitude_enabled) { /* if the RC signal is lost, try to stay level and go slowly back down to ground */ if (vstatus.rc_signal_lost) { @@ -234,15 +224,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) att_sp.timestamp = hrt_absolute_time(); - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - /* pass through flaps */ if (isfinite(manual_sp.flaps)) { actuators.control[4] = manual_sp.flaps; @@ -251,7 +232,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) actuators.control[4] = 0.0f; } - } else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + } else { /* directly pass through values */ actuators.control[0] = manual_sp.roll; /* positive pitch means negative actuator -> pull up */ @@ -267,6 +248,22 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) } } } + + /* execute attitude control if requested */ + if (control_mode.flag_control_attitude_enabled) { + /* attitude control */ + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); + + /* angular rate control */ + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* set flaps to zero */ + actuators.control[4] = 0.0f; + + } /* publish rates */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); |