diff options
Diffstat (limited to 'src/modules/fixedwing_backside/fixedwing.cpp')
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing.cpp | 57 |
1 files changed, 33 insertions, 24 deletions
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f655a13bd..16fcbd864 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -39,6 +39,8 @@ #include "fixedwing.hpp" +#if 0 + namespace control { @@ -155,8 +157,9 @@ void BlockMultiModeBacksideAutopilot::update() for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++) _actuators.control[i] = 0.0f; +#warning this if is incomplete, should be based on flags // only update guidance in auto mode - if (_status.state_machine == SYSTEM_STATE_AUTO) { + if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { // update guidance _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); } @@ -165,9 +168,10 @@ void BlockMultiModeBacksideAutopilot::update() // once the system switches from manual or auto to stabilized // the setpoint should update to loitering around this position +#warning should be base on flags // handle autopilot modes - if (_status.state_machine == SYSTEM_STATE_AUTO || - _status.state_machine == SYSTEM_STATE_STABILIZED) { + if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION || + _status.navigation_state == NAVIGATION_STATE_SEATBELT) { // update guidance _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); @@ -219,21 +223,23 @@ void BlockMultiModeBacksideAutopilot::update() // This is not a hack, but a design choice. /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - - } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { - - if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - _actuators.control[CH_AIL] = _manual.roll; - _actuators.control[CH_ELV] = _manual.pitch; - _actuators.control[CH_RDR] = _manual.yaw; - _actuators.control[CH_THR] = _manual.throttle; - - } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { +#warning fix this + // if (!_status.flag_hil_enabled) { + // /* limit to value of manual throttle */ + // _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? + // _actuators.control[CH_THR] : _manual.throttle; + // } + + } else if (_status.navigation_state == NAVIGATION_STATE_MANUAL) { + +#warning fix here too +// if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { +// _actuators.control[CH_AIL] = _manual.roll; +// _actuators.control[CH_ELV] = _manual.pitch; +// _actuators.control[CH_RDR] = _manual.yaw; +// _actuators.control[CH_THR] = _manual.throttle; +// +// } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between @@ -284,12 +290,14 @@ void BlockMultiModeBacksideAutopilot::update() // This is not a hack, but a design choice. /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - } +#warning fix this + // if (!_status.flag_hil_enabled) { + // /* limit to value of manual throttle */ + // _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? + // _actuators.control[CH_THR] : _manual.throttle; + // } +#warning fix this +// } // body rates controller, disabled for now else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) { @@ -322,3 +330,4 @@ BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot() } // namespace control +#endif |