diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 45 |
1 files changed, 23 insertions, 22 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 44c2fb1d8..b4d7fb630 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -57,7 +57,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <drivers/drv_gyro.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/actuator_safety.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -91,8 +91,8 @@ static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct actuator_safety_s safety; memset(&safety, 0, sizeof(safety)); struct vehicle_attitude_s att; @@ -116,7 +116,7 @@ mc_thread_main(int argc, char *argv[]) int param_sub = orb_subscribe(ORB_ID(parameter_update)); int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -181,7 +181,6 @@ mc_thread_main(int argc, char *argv[]) } else if (ret == 0) { /* no return value, ignore */ } else { - /* only update parameters if they changed */ if (fds[1].revents & POLLIN) { /* read from param to clear updated flag */ @@ -199,10 +198,10 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of system state */ bool updated; - orb_check(state_sub, &updated); + orb_check(control_mode_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_status), state_sub, &state); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); } orb_check(safety_sub, &updated); @@ -227,9 +226,8 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - /** STEP 1: Define which input is the dominating control input */ - if (state.flag_control_offboard_enabled) { + if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { rates_sp.roll = offboard_sp.p1; @@ -252,13 +250,11 @@ mc_thread_main(int argc, char *argv[]) } - } else if (state.flag_control_manual_enabled) { - - if (state.flag_control_attitude_enabled) { - + } else if (control_mode.flag_control_manual_enabled) { + if (control_mode.flag_control_attitude_enabled) { /* initialize to current yaw if switching to manual or att control */ - if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || - state.flag_control_manual_enabled != flag_control_manual_enabled || + if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled || + control_mode.flag_control_manual_enabled != flag_control_manual_enabled || safety.armed != flag_armed) { att_sp.yaw_body = att.yaw; } @@ -266,6 +262,8 @@ mc_thread_main(int argc, char *argv[]) static bool rc_loss_first_time = true; /* if the RC signal is lost, try to stay level and go slowly back down to ground */ +/* XXX fix this */ +#if 0 if (state.rc_signal_lost) { /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ param_get(failsafe_throttle_handle, &failsafe_throttle); @@ -297,6 +295,7 @@ mc_thread_main(int argc, char *argv[]) rc_loss_first_time = false; } else { +#endif rc_loss_first_time = true; att_sp.roll_body = manual.roll; @@ -344,7 +343,9 @@ mc_thread_main(int argc, char *argv[]) att_sp.thrust = manual.throttle; att_sp.timestamp = hrt_absolute_time(); +#if 0 } +#endif /* STEP 2: publish the controller output */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); @@ -378,7 +379,7 @@ mc_thread_main(int argc, char *argv[]) } /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (state.flag_control_attitude_enabled) { + if (control_mode.flag_control_attitude_enabled) { multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); @@ -405,11 +406,11 @@ mc_thread_main(int argc, char *argv[]) multirotor_control_rates(&rates_sp, gyro, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - /* update state */ - flag_control_attitude_enabled = state.flag_control_attitude_enabled; - flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_control_position_enabled = state.flag_control_position_enabled; - flag_control_velocity_enabled = state.flag_control_velocity_enabled; + /* update control_mode */ + flag_control_attitude_enabled = control_mode.flag_control_attitude_enabled; + flag_control_manual_enabled = control_mode.flag_control_manual_enabled; + flag_control_position_enabled = control_mode.flag_control_position_enabled; + flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled; flag_armed = safety.armed; perf_end(mc_loop_perf); @@ -427,7 +428,7 @@ mc_thread_main(int argc, char *argv[]) close(att_sub); - close(state_sub); + close(control_mode_sub); close(manual_sub); close(actuator_pub); close(att_sp_pub); |