diff options
Diffstat (limited to 'src/modules/fw_att_control')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 37 |
1 files changed, 16 insertions, 21 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 0025aae7f..a0f74517c 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -195,8 +195,6 @@ private: float man_roll_max; /**< Max Roll in rad */ float man_pitch_max; /**< Max Pitch in rad */ - param_t autostart_id; /* indicates which airframe is used */ - } _parameters; /**< local copies of interesting parameters */ struct { @@ -237,7 +235,6 @@ private: param_t man_roll_max; param_t man_pitch_max; - param_t autostart_id; /* indicates which airframe is used */ } _parameter_handles; /**< handles for interesting parameters */ @@ -339,6 +336,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _actuators_0_pub(-1), _actuators_2_pub(-1), + _rates_sp_id(ORB_ID(vehicle_rates_setpoint)), + _actuators_id(ORB_ID(actuator_controls_0)), + /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")), @@ -397,19 +397,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX"); _parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX"); - _parameter_handles.autostart_id = param_find("SYS_AUTOSTART"); - /* fetch initial parameter values */ parameters_update(); - // set correct uORB ID, depending on if vehicle is VTOL or not - if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/ - _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_virtual_fw); - } - else { - _rates_sp_id = ORB_ID(vehicle_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_0); - } } FixedwingAttitudeControl::~FixedwingAttitudeControl() @@ -484,8 +473,6 @@ FixedwingAttitudeControl::parameters_update() _parameters.man_roll_max = math::radians(_parameters.man_roll_max); _parameters.man_pitch_max = math::radians(_parameters.man_pitch_max); - param_get(_parameter_handles.autostart_id, &_parameters.autostart_id); - /* pitch control parameters */ _pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_k_p(_parameters.p_p); @@ -601,6 +588,14 @@ FixedwingAttitudeControl::vehicle_status_poll() if (vehicle_status_updated) { orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + /* set correct uORB ID, depending on if vehicle is VTOL or not */ + if (_vehicle_status.is_vtol) { + _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_virtual_fw); + } else { + _rates_sp_id = ORB_ID(vehicle_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_0); + } } } @@ -701,11 +696,11 @@ FixedwingAttitudeControl::task_main() /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - if (_parameters.autostart_id >= 13000 - && _parameters.autostart_id <= 13999) { //vehicle type is VTOL, need to modify attitude! - /* The following modification to the attitude is vehicle specific and in this case applies - to tail-sitter models !!! - + if (_vehicle_status.is_vtol) { + /* vehicle type is VTOL, need to modify attitude! + * The following modification to the attitude is vehicle specific and in this case applies + * to tail-sitter models !!! + * * Since the VTOL airframe is initialized as a multicopter we need to * modify the estimated attitude for the fixed wing operation. * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around |