yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

move takeoff state machine flight_mode_manager -> mc_pos_control

Browse Source
This commit is contained in:
Daniel Agar
2021-02-16 12:26:14 -05:00
committed by Matthias Grob
parent 823c6078d9
commit 266ea377da
20 changed files with 288 additions and 279 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
msg/takeoff_status.msg
View File

@@ -2,10 +2,11 @@
uint64 timestamp # time since system start (microseconds)
uint8 TAKEOFF_STATE_DISARMED = 0
uint8 TAKEOFF_STATE_SPOOLUP = 1
uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 2
uint8 TAKEOFF_STATE_RAMPUP = 3
uint8 TAKEOFF_STATE_FLIGHT = 4
uint8 TAKEOFF_STATE_UNINITIALIZED = 0
uint8 TAKEOFF_STATE_DISARMED = 1
uint8 TAKEOFF_STATE_SPOOLUP = 2
uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 3
uint8 TAKEOFF_STATE_RAMPUP = 4
uint8 TAKEOFF_STATE_FLIGHT = 5
uint8 takeoff_state

9
msg/vehicle_constraints.msg
View File

@@ -3,15 +3,8 @@
uint64 timestamp # time since system start (microseconds)
float32 yawspeed # in radians/sec
float32 speed_xy # in meters/sec
float32 speed_up # in meters/sec
float32 speed_down # in meters/sec
float32 tilt # in radians [0, PI]
float32 min_distance_to_ground # in meters
float32 max_distance_to_ground # in meters
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air
float32 minimum_thrust # tell controller what the minimum collective output thrust should be
uint32 flight_task
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)