diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 44 |
1 files changed, 35 insertions, 9 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index ff3f13306..bb74534f0 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -121,6 +121,7 @@ private: orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */ orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ + orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */ struct vehicle_attitude_s _att; /**< vehicle attitude */ struct accel_report _accel; /**< body frame accelerations */ @@ -128,7 +129,8 @@ private: struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct airspeed_s _airspeed; /**< airspeed */ struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ struct vehicle_global_position_s _global_pos; /**< global position */ perf_counter_t _loop_perf; /**< loop performance counter */ @@ -294,14 +296,15 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _airspeed_valid(false) { /* safely initialize structs */ - vehicle_attitude_s _att = {0}; - accel_report _accel = {0}; - vehicle_attitude_setpoint_s _att_sp = {0}; - manual_control_setpoint_s _manual = {0}; - airspeed_s _airspeed = {0}; - vehicle_control_mode_s _vcontrol_mode = {0}; - actuator_controls_s _actuators = {0}; - vehicle_global_position_s _global_pos = {0}; + _att = {0}; + _accel = {0}; + _att_sp = {0}; + _manual = {0}; + _airspeed = {0}; + _vcontrol_mode = {0}; + _actuators = {0}; + _actuators_airframe = {0}; + _global_pos = {0}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -625,6 +628,15 @@ FixedwingAttitudeControl::task_main() lock_integrator = true; } + /* Simple handling of failsafe: deploy parachute if failsafe is on */ + if (_vcontrol_mode.flag_control_flighttermination_enabled) { + _actuators_airframe.control[1] = 1.0f; +// warnx("_actuators_airframe.control[1] = 1.0f;"); + } else { + _actuators_airframe.control[1] = -1.0f; +// warnx("_actuators_airframe.control[1] = -1.0f;"); + } + /* decide if in stabilized or full manual control */ if (_vcontrol_mode.flag_control_attitude_enabled) { @@ -794,6 +806,7 @@ FixedwingAttitudeControl::task_main() /* lazily publish the setpoint only once available */ _actuators.timestamp = hrt_absolute_time(); + _actuators_airframe.timestamp = hrt_absolute_time(); if (_actuators_0_pub > 0) { /* publish the attitude setpoint */ @@ -804,6 +817,19 @@ FixedwingAttitudeControl::task_main() _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); } + if (_actuators_1_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); + warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", + (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], + (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], + (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); + + } else { + /* advertise and publish */ + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); + } + } perf_end(_loop_perf); |