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-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp622
1 files changed, 391 insertions, 231 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index a9648b207..45fdaa355 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -49,6 +49,7 @@
* More details and acknowledgements in the referenced library headers.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
@@ -67,7 +68,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
@@ -75,6 +76,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/navigation_capabilities.h>
+#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@@ -83,9 +85,12 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
-
+#include <mavlink/mavlink_log.h>
+#include <launchdetection/LaunchDetector.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
+#include "landingslope.h"
+
/**
* L1 control app start / stop handling function
@@ -115,19 +120,20 @@ public:
int start();
private:
+ int _mavlink_fd;
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
int _global_pos_sub;
- int _global_set_triplet_sub;
+ int _pos_sp_triplet_sub;
int _att_sub; /**< vehicle attitude subscription */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _control_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
- int _accel_sub; /**< body frame accelerations */
+ int _sensor_combined_sub; /**< for body frame accelerations */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
@@ -139,8 +145,8 @@ private:
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _control_mode; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
- struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */
- struct accel_report _accel; /**< body frame accelerations */
+ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
+ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -160,17 +166,33 @@ private:
/* land states */
/* not in non-abort mode for landing yet */
- bool land_noreturn;
+ bool land_noreturn_horizontal;
+ bool land_noreturn_vertical;
+ bool land_stayonground;
+ bool land_motor_lim;
+ bool land_onslope;
+
+ /* takeoff/launch states */
+ bool launch_detected;
+ bool usePreTakeoffThrust;
+
+ /* Landingslope object */
+ Landingslope landingslope;
+
+ float flare_curve_alt_last;
/* heading hold */
float target_bearing;
+ /* Launch detection */
+ LaunchDetector launchDetector;
+
/* throttle and airspeed states */
float _airspeed_error; ///< airspeed error to setpoint in m/s
bool _airspeed_valid; ///< flag if a valid airspeed estimate exists
uint64_t _airspeed_last_valid; ///< last time airspeed was valid. Used to detect sensor failures
float _groundspeed_undershoot; ///< ground speed error to min. speed in m/s
bool _global_pos_valid; ///< global position is valid
- math::Dcm _R_nb; ///< current attitude
+ math::Matrix<3, 3> _R_nb; ///< current attitude
ECL_L1_Pos_Controller _l1_control;
TECS _tecs;
@@ -206,6 +228,17 @@ private:
float throttle_land_max;
float loiter_hold_radius;
+
+ float heightrate_p;
+ float speedrate_p;
+
+ float land_slope_angle;
+ float land_slope_length;
+ float land_H1_virt;
+ float land_flare_alt_relative;
+ float land_thrust_lim_alt_relative;
+ float land_heading_hold_horizontal_distance;
+
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -240,6 +273,17 @@ private:
param_t throttle_land_max;
param_t loiter_hold_radius;
+
+ param_t heightrate_p;
+ param_t speedrate_p;
+
+ param_t land_slope_angle;
+ param_t land_slope_length;
+ param_t land_H1_virt;
+ param_t land_flare_alt_relative;
+ param_t land_thrust_lim_alt_relative;
+ param_t land_heading_hold_horizontal_distance;
+
} _parameter_handles; /**< handles for interesting parameters */
@@ -272,7 +316,7 @@ private:
/**
* Check for accel updates.
*/
- void vehicle_accel_poll();
+ void vehicle_sensor_combined_poll();
/**
* Check for set triplet updates.
@@ -280,13 +324,18 @@ private:
void vehicle_setpoint_poll();
/**
+ * Publish navigation capabilities
+ */
+ void navigation_capabilities_publish();
+
+ /**
* Control position.
*/
- bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed,
- const struct vehicle_global_position_set_triplet_s &global_triplet);
+ bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
+ const struct position_setpoint_triplet_s &_pos_sp_triplet);
float calculate_target_airspeed(float airspeed_demand);
- void calculate_gndspeed_undershoot();
+ void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet);
/**
* Shim for calling task_main from task_create.
@@ -318,7 +367,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* subscriptions */
_global_pos_sub(-1),
- _global_set_triplet_sub(-1),
+ _pos_sp_triplet_sub(-1),
_att_sub(-1),
_airspeed_sub(-1),
_control_mode_sub(-1),
@@ -338,8 +387,31 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
- land_noreturn(false)
+ land_noreturn_horizontal(false),
+ land_noreturn_vertical(false),
+ land_stayonground(false),
+ land_motor_lim(false),
+ land_onslope(false),
+ flare_curve_alt_last(0.0f),
+ _mavlink_fd(-1),
+ launchDetector(),
+ launch_detected(false),
+ usePreTakeoffThrust(false)
{
+ /* safely initialize structs */
+ vehicle_attitude_s _att = {0};
+ vehicle_attitude_setpoint_s _att_sp = {0};
+ navigation_capabilities_s _nav_capabilities = {0};
+ manual_control_setpoint_s _manual = {0};
+ airspeed_s _airspeed = {0};
+ vehicle_control_mode_s _control_mode = {0};
+ vehicle_global_position_s _global_pos = {0};
+ position_setpoint_triplet_s _pos_sp_triplet = {0};
+ sensor_combined_s _sensor_combined = {0};
+
+
+
+
_nav_capabilities.turn_distance = 0.0f;
_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
@@ -358,6 +430,13 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
+ _parameter_handles.land_slope_angle = param_find("FW_LND_ANG");
+ _parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
+ _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
+ _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
+ _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
+ _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
+
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN");
_parameter_handles.max_sink_rate = param_find("FW_T_SINK_MAX");
@@ -370,6 +449,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR");
_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
_parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP");
+ _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P");
+ _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
/* fetch initial parameter values */
parameters_update();
@@ -435,6 +516,16 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
+ param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+ param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
+
+ param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
+ param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
+ param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
+ param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
+ param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
+ param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
+
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
@@ -447,12 +538,14 @@ FixedwingPositionControl::parameters_update()
_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
_tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega);
- _tecs.set_roll_throttle_compensation(math::radians(_parameters.roll_throttle_compensation));
+ _tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation);
_tecs.set_speed_weight(_parameters.speed_weight);
_tecs.set_pitch_damping(_parameters.pitch_damping);
_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
_tecs.set_max_climb_rate(_parameters.max_climb_rate);
+ _tecs.set_heightrate_p(_parameters.heightrate_p);
+ _tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min ||
@@ -464,6 +557,18 @@ FixedwingPositionControl::parameters_update()
return 1;
}
+ /* Update the landing slope */
+ landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_alt_relative, _parameters.land_H1_virt);
+
+ /* Update and publish the navigation capabilities */
+ _nav_capabilities.landing_slope_angle_rad = landingslope.landing_slope_angle_rad();
+ _nav_capabilities.landing_horizontal_slope_displacement = landingslope.horizontal_slope_displacement();
+ _nav_capabilities.landing_flare_length = landingslope.flare_length();
+ navigation_capabilities_publish();
+
+ /* Update Launch Detector Parameters */
+ launchDetector.updateParams();
+
return OK;
}
@@ -533,14 +638,14 @@ FixedwingPositionControl::vehicle_attitude_poll()
}
void
-FixedwingPositionControl::vehicle_accel_poll()
+FixedwingPositionControl::vehicle_sensor_combined_poll()
{
/* check if there is a new position */
- bool accel_updated;
- orb_check(_accel_sub, &accel_updated);
+ bool sensors_updated;
+ orb_check(_sensor_combined_sub, &sensors_updated);
- if (accel_updated) {
- orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+ if (sensors_updated) {
+ orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
}
}
@@ -548,11 +653,11 @@ void
FixedwingPositionControl::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */
- bool global_sp_updated;
- orb_check(_global_set_triplet_sub, &global_sp_updated);
+ bool pos_sp_triplet_updated;
+ orb_check(_pos_sp_triplet_sub, &pos_sp_triplet_updated);
- if (global_sp_updated) {
- orb_copy(ORB_ID(vehicle_global_position_set_triplet), _global_set_triplet_sub, &_global_triplet);
+ if (pos_sp_triplet_updated) {
+ orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
_setpoint_valid = true;
}
}
@@ -595,17 +700,29 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
}
void
-FixedwingPositionControl::calculate_gndspeed_undershoot()
+FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet)
{
if (_global_pos_valid) {
- /* get ground speed vector */
- math::Vector2f ground_speed_vector(_global_pos.vx, _global_pos.vy);
- /* rotate with current attitude */
- math::Vector2f yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
+ /* rotate ground speed vector with current attitude */
+ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
yaw_vector.normalize();
- float ground_speed_body = yaw_vector * ground_speed_vector;
+ float ground_speed_body = yaw_vector * ground_speed;
+
+ /* The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available*/
+ float distance = 0.0f;
+ float delta_altitude = 0.0f;
+ if (pos_sp_triplet.previous.valid) {
+ distance = get_distance_to_next_waypoint(pos_sp_triplet.previous.lat, pos_sp_triplet.previous.lon, pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
+ delta_altitude = pos_sp_triplet.current.alt - pos_sp_triplet.previous.alt;
+ } else {
+ distance = get_distance_to_next_waypoint(current_position(0), current_position(1), pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
+ delta_altitude = pos_sp_triplet.current.alt - _global_pos.alt;
+ }
+
+ float ground_speed_desired = _parameters.airspeed_min * cosf(atan2f(delta_altitude, distance));
+
/*
* Ground speed undershoot is the amount of ground velocity not reached
@@ -616,20 +733,29 @@ FixedwingPositionControl::calculate_gndspeed_undershoot()
* not exceeded) travels towards a waypoint (and is not pushed more and more away
* by wind). Not countering this would lead to a fly-away.
*/
- _groundspeed_undershoot = math::max(_parameters.airspeed_min - ground_speed_body, 0.0f);
+ _groundspeed_undershoot = math::max(ground_speed_desired - ground_speed_body, 0.0f);
} else {
_groundspeed_undershoot = 0;
}
}
+void FixedwingPositionControl::navigation_capabilities_publish()
+{
+ if (_nav_capabilities_pub > 0) {
+ orb_publish(ORB_ID(navigation_capabilities), _nav_capabilities_pub, &_nav_capabilities);
+ } else {
+ _nav_capabilities_pub = orb_advertise(ORB_ID(navigation_capabilities), &_nav_capabilities);
+ }
+}
+
bool
-FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
- const struct vehicle_global_position_set_triplet_s &global_triplet)
+FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
+ const struct position_setpoint_triplet_s &pos_sp_triplet)
{
bool setpoint = true;
- calculate_gndspeed_undershoot();
+ calculate_gndspeed_undershoot(current_position, ground_speed, pos_sp_triplet);
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
@@ -637,11 +763,11 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float baro_altitude = _global_pos.alt;
/* filter speed and altitude for controller */
- math::Vector3 accel_body(_accel.x, _accel.y, _accel.z);
- math::Vector3 accel_earth = _R_nb.transpose() * accel_body;
+ math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
+ math::Vector<3> accel_earth = _R_nb * accel_body;
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
- float altitude_error = _global_triplet.current.altitude - _global_pos.alt;
+ float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
/* no throttle limit as default */
float throttle_max = 1.0f;
@@ -658,252 +784,277 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* restore speed weight, in case changed intermittently (e.g. in landing handling) */
_tecs.set_speed_weight(_parameters.speed_weight);
- /* execute navigation once we have a setpoint */
- if (_setpoint_valid) {
+ /* current waypoint (the one currently heading for) */
+ math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
- /* current waypoint (the one currently heading for) */
- math::Vector2f next_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f);
+ /* current waypoint (the one currently heading for) */
+ math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
- /* previous waypoint */
- math::Vector2f prev_wp;
- if (global_triplet.previous_valid) {
- prev_wp.setX(global_triplet.previous.lat / 1e7f);
- prev_wp.setY(global_triplet.previous.lon / 1e7f);
+ /* previous waypoint */
+ math::Vector<2> prev_wp;
- } else {
- /*
- * No valid previous waypoint, go for the current wp.
- * This is automatically handled by the L1 library.
- */
- prev_wp.setX(global_triplet.current.lat / 1e7f);
- prev_wp.setY(global_triplet.current.lon / 1e7f);
+ if (pos_sp_triplet.previous.valid) {
+ prev_wp(0) = (float)pos_sp_triplet.previous.lat;
+ prev_wp(1) = (float)pos_sp_triplet.previous.lon;
- }
+ } else {
+ /*
+ * No valid previous waypoint, go for the current wp.
+ * This is automatically handled by the L1 library.
+ */
+ prev_wp(0) = (float)pos_sp_triplet.current.lat;
+ prev_wp(1) = (float)pos_sp_triplet.current.lon;
- // XXX add RTL switch
- if (global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH && _launch_valid) {
+ }
- math::Vector2f rtl_pos(_launch_lat, _launch_lon);
+ if (pos_sp_triplet.current.type == SETPOINT_TYPE_NORMAL) {
+ /* waypoint is a plain navigation waypoint */
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- _l1_control.navigate_waypoints(rtl_pos, rtl_pos, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _launch_alt, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) {
- // XXX handle case when having arrived at home (loiter)
+ /* waypoint is a loiter waypoint */
+ _l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
+ pos_sp_triplet.current.loiter_direction, ground_speed);
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- } else if (global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
- /* waypoint is a plain navigation waypoint */
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
- } else if (global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
- global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
- global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
+ float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
- /* waypoint is a loiter waypoint */
- _l1_control.navigate_loiter(next_wp, current_position, global_triplet.current.loiter_radius,
- global_triplet.current.loiter_direction, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ /* Horizontal landing control */
+ /* switch to heading hold for the last meters, continue heading hold after */
+ float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
+ //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
+ if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ /* heading hold, along the line connecting this and the last waypoint */
+
+ if (!land_noreturn_horizontal) {//set target_bearing in first occurrence
+ if (pos_sp_triplet.previous.valid) {
+ target_bearing = bearing_lastwp_currwp;
+ } else {
+ target_bearing = _att.yaw;
+ }
+ mavlink_log_info(_mavlink_fd, "#audio: Landing, heading hold");
+ }
- } else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) {
+// warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw));
- /* switch to heading hold for the last meters, continue heading hold after */
+ _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
- float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY());
- //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
- if (wp_distance < 15.0f || land_noreturn) {
+ /* limit roll motion to prevent wings from touching the ground first */
+ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
- /* heading hold, along the line connecting this and the last waypoint */
-
+ land_noreturn_horizontal = true;
- // if (global_triplet.previous_valid) {
- // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
- // } else {
+ } else {
- if (!land_noreturn)
- target_bearing = _att.yaw;
- //}
+ /* normal navigation */
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+ }
- warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw));
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
- if (altitude_error > -5.0f)
- land_noreturn = true;
+ /* Vertical landing control */
+ //xxx: using the tecs altitude controller for slope control for now
- } else {
+// /* do not go down too early */
+// if (wp_distance > 50.0f) {
+// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt;
+// }
+ /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
+ // XXX this could make a great param
- /* normal navigation */
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- }
+ float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1)
+ float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
+ float airspeed_land = 1.3f * _parameters.airspeed_min;
+ float airspeed_approach = 1.3f * _parameters.airspeed_min;
- /* do not go down too early */
- if (wp_distance > 50.0f) {
- altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
- }
+ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
+ float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
+ float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
+ float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
+ if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ /* land with minimal speed */
- /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
- // XXX this could make a great param
+// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
+// _tecs.set_speed_weight(2.0f);
- float flare_angle_rad = math::radians(10.0f);//math::radians(global_triplet.current.param1)
- float land_pitch_min = math::radians(5.0f);
- float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
- float airspeed_land = _parameters.airspeed_min;
- float airspeed_approach = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f;
+ /* kill the throttle if param requests it */
+ throttle_max = _parameters.throttle_max;
- if (altitude_error > -4.0f) {
+ if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
+ throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
+ if (!land_motor_lim) {
+ land_motor_lim = true;
+ mavlink_log_info(_mavlink_fd, "#audio: Landing, limiting throttle");
+ }
- /* land with minimal speed */
+ }
- /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
- _tecs.set_speed_weight(2.0f);
+ float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_land),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, flare_angle_rad,
- 0.0f, _parameters.throttle_max, throttle_land,
- math::radians(-10.0f), math::radians(15.0f));
+ /* avoid climbout */
+ if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
+ {
+ flare_curve_alt = pos_sp_triplet.current.alt;
+ land_stayonground = true;
+ }
- /* kill the throttle if param requests it */
- throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, flare_pitch_angle_rad,
+ 0.0f, throttle_max, throttle_land,
+ flare_pitch_angle_rad, math::radians(15.0f));
- /* limit roll motion to prevent wings from touching the ground first */
- _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
+ if (!land_noreturn_vertical) {
+ mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
+ land_noreturn_vertical = true;
+ }
+ //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
- } else if (wp_distance < 60.0f && altitude_error > -20.0f) {
+ flare_curve_alt_last = flare_curve_alt;
- /* minimize speed to approach speed */
+ } else if (wp_distance < L_wp_distance) {
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_approach),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, flare_angle_rad,
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ /* minimize speed to approach speed, stay on landing slope */
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, flare_pitch_angle_rad,
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ //warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length);
+
+ if (!land_onslope) {
+
+ mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
+ land_onslope = true;
+ }
+ } else {
+
+ /* intersect glide slope:
+ * if current position is higher or within 10m of slope follow the glide slope
+ * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
+ * */
+ float altitude_desired = _global_pos.alt;
+ if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
+ /* stay on slope */
+ altitude_desired = landing_slope_alt_desired;
+ //warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
} else {
+ /* continue horizontally */
+ altitude_desired = math::max(_global_pos.alt, L_altitude);
+ //warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
+ }
- /* normal cruise speed */
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ }
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) {
+
+ /* Perform launch detection */
+// warnx("Launch detection running");
+ if(!launch_detected) { //do not do further checks once a launch was detected
+ if (launchDetector.launchDetectionEnabled()) {
+ static hrt_abstime last_sent = 0;
+ if(hrt_absolute_time() - last_sent > 4e6) {
+// warnx("Launch detection running");
+ mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
+ last_sent = hrt_absolute_time();
+ }
+ launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
+ if (launchDetector.getLaunchDetected()) {
+ launch_detected = true;
+ mavlink_log_info(_mavlink_fd, "#audio: Takeoff");
+ }
+ } else {
+ /* no takeoff detection --> fly */
+ launch_detected = true;
}
+ }
- } else if (global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ if (launch_detected) {
+ usePreTakeoffThrust = false;
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
- if (altitude_error > 10.0f) {
+ if (altitude_error > 15.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
} else {
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
}
- }
-
- // warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
- // (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
- // warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp.getX(), (double)prev_wp.getY(),
- // (double)next_wp.getX(), (double)next_wp.getY(), (global_triplet.previous_valid) ? "valid" : "invalid");
-
- // XXX at this point we always want no loiter hold if a
- // mission is active
- _loiter_hold = false;
-
- } else if (_control_mode.flag_armed) {
-
- /* hold position, but only if armed, climb 20m in case this is engaged on ground level */
-
- // XXX rework with smarter state machine
-
- if (!_loiter_hold) {
- _loiter_hold_lat = _global_pos.lat / 1e7f;
- _loiter_hold_lon = _global_pos.lon / 1e7f;
- _loiter_hold_alt = _global_pos.alt + 25.0f;
- _loiter_hold = true;
- }
-
- altitude_error = _loiter_hold_alt - _global_pos.alt;
-
- math::Vector2f loiter_hold_pos(_loiter_hold_lat, _loiter_hold_lon);
-
- /* loiter around current position */
- _l1_control.navigate_loiter(loiter_hold_pos, current_position, _parameters.loiter_hold_radius,
- 1, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
-
- /* climb with full throttle if the altitude error is bigger than 5 meters */
- bool climb_out = (altitude_error > 3);
-
- float min_pitch;
-
- if (climb_out) {
- min_pitch = math::radians(20.0f);
} else {
- min_pitch = math::radians(_parameters.pitch_limit_min);
+ usePreTakeoffThrust = true;
}
+ }
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _loiter_hold_alt, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- climb_out, min_pitch,
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ // warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
+ // (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
+ // warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
+ // (double)next_wp(0), (double)next_wp(1), (pos_sp_triplet.previous_valid) ? "valid" : "invalid");
- if (climb_out) {
- /* limit roll motion to ensure enough lift */
- _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
- }
- }
+ // XXX at this point we always want no loiter hold if a
+ // mission is active
+ _loiter_hold = false;
/* reset land state */
- if (global_triplet.current.nav_cmd != NAV_CMD_LAND) {
- land_noreturn = false;
+ if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
+ land_noreturn_horizontal = false;
+ land_noreturn_vertical = false;
+ land_stayonground = false;
+ land_motor_lim = false;
+ land_onslope = false;
+ }
+
+ /* reset takeoff/launch state */
+ if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) {
+ launch_detected = false;
+ usePreTakeoffThrust = false;
}
if (was_circle_mode && !_l1_control.circle_mode()) {
@@ -1000,8 +1151,14 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
setpoint = false;
}
+ if (usePreTakeoffThrust) {
+ _att_sp.thrust = launchDetector.getThrottlePreTakeoff();
+ }
+ else {
+ _att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max);
+ }
_att_sp.pitch_body = _tecs.get_pitch_demand();
- _att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max);
+
return setpoint;
}
@@ -1018,9 +1175,9 @@ FixedwingPositionControl::task_main()
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
- _global_set_triplet_sub = orb_subscribe(ORB_ID(vehicle_global_position_set_triplet));
+ _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
- _accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+ _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -1080,6 +1237,11 @@ FixedwingPositionControl::task_main()
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
+ /* XXX Hack to get mavlink output going */
+ if (_mavlink_fd < 0) {
+ /* try to open the mavlink log device every once in a while */
+ _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+ }
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -1097,18 +1259,18 @@ FixedwingPositionControl::task_main()
vehicle_attitude_poll();
vehicle_setpoint_poll();
- vehicle_accel_poll();
+ vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
// vehicle_baro_poll();
- math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy);
- math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
+ math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
+ math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon);
/*
* Attempt to control position, on success (= sensors present and not in manual mode),
* publish setpoint.
*/
- if (control_position(current_position, ground_speed, _global_triplet)) {
+ if (control_position(current_position, ground_speed, _pos_sp_triplet)) {
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
@@ -1121,7 +1283,8 @@ FixedwingPositionControl::task_main()
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
- float turn_distance = _l1_control.switch_distance(_global_triplet.current.turn_distance_xy);
+ /* XXX check if radius makes sense here */
+ float turn_distance = _l1_control.switch_distance(100.0f);
/* lazily publish navigation capabilities */
if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {
@@ -1129,11 +1292,8 @@ FixedwingPositionControl::task_main()
/* set new turn distance */
_nav_capabilities.turn_distance = turn_distance;
- if (_nav_capabilities_pub > 0) {
- orb_publish(ORB_ID(navigation_capabilities), _nav_capabilities_pub, &_nav_capabilities);
- } else {
- _nav_capabilities_pub = orb_advertise(ORB_ID(navigation_capabilities), &_nav_capabilities);
- }
+ navigation_capabilities_publish();
+
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-22 10:28:49 +0000