diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 33 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 4 | ||||
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 13 |
3 files changed, 48 insertions, 2 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 ad873203e..c60d8d348 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -63,6 +63,7 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_status.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/pid/pid.h> @@ -124,6 +125,7 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_sub; /**< notification of manual control updates */ int _global_pos_sub; /**< global position subscription */ + int _vehicle_status_sub; /**< vehicle status subscription */ orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint point */ @@ -139,6 +141,7 @@ private: 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 */ + struct vehicle_status_s _vehicle_status; /**< vehicle status */ perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */ @@ -276,6 +279,11 @@ private: void global_pos_poll(); /** + * Check for vehicle status updates. + */ + void vehicle_status_poll(); + + /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); @@ -313,6 +321,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _params_sub(-1), _manual_sub(-1), _global_pos_sub(-1), + _vehicle_status_sub(-1), /* publications */ _rate_sp_pub(-1), @@ -338,6 +347,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _actuators = {}; _actuators_airframe = {}; _global_pos = {}; + _vehicle_status = {}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -561,6 +571,18 @@ FixedwingAttitudeControl::global_pos_poll() } void +FixedwingAttitudeControl::vehicle_status_poll() +{ + /* check if there is new status information */ + bool vehicle_status_updated; + orb_check(_vehicle_status_sub, &vehicle_status_updated); + + if (vehicle_status_updated) { + orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); + } +} + +void FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[]) { att_control::g_control->task_main(); @@ -585,6 +607,7 @@ FixedwingAttitudeControl::task_main() _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vcontrol_mode_sub, 200); @@ -599,6 +622,7 @@ FixedwingAttitudeControl::task_main() vehicle_accel_poll(); vehicle_control_mode_poll(); vehicle_manual_poll(); + vehicle_status_poll(); /* wakeup source(s) */ struct pollfd fds[2]; @@ -667,6 +691,8 @@ FixedwingAttitudeControl::task_main() global_pos_poll(); + vehicle_status_poll(); + /* lock integrator until control is started */ bool lock_integrator; @@ -779,6 +805,13 @@ FixedwingAttitudeControl::task_main() } } + /* If the aircraft is on ground reset the integrators */ + if (_vehicle_status.condition_landed) { + _roll_ctrl.reset_integrator(); + _pitch_ctrl.reset_integrator(); + _yaw_ctrl.reset_integrator(); + } + /* Prepare speed_body_u and speed_body_w */ float speed_body_u = 0.0f; float speed_body_v = 0.0f; diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index d436c95e9..a3c127cdc 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -798,10 +798,10 @@ int MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) { if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; } switch (mission_item->nav_cmd) { diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 4adf77dce..723caec7c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached() if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) { _waypoint_position_reached = true; } + } else if (!_navigator->get_vstatus()->is_rotary_wing && + (_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || + _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) { + /* Loiter mission item on a non rotary wing: the aircraft is going to circle the + * coordinates with a radius equal to the loiter_radius field. It is not flying + * through the waypoint center. + * Therefore the item is marked as reached once the system reaches the loiter + * radius (+ some margin). Time inside and turn count is handled elsewhere. + */ + if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) { + _waypoint_position_reached = true; + } } else { /* for normal mission items used their acceptance radius */ if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) { |