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sitl gazebo plane fix land detector startup order (#4932)

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This commit is contained in:
Daniel Agar
2016-06-30 07:56:06 -04:00
committed by Lorenz Meier
parent 07fa814597
commit 377726a9a7
3 changed files with 7 additions and 6 deletions
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2
posix-configs/SITL/init/rcS_gazebo_plane
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@@ -37,11 +37,11 @@ pwm_out_sim mode_pwm
sleep 1 sleep 1
sensors start sensors start
commander start commander start
land_detector start fixedwing
navigator start navigator start
ekf2 start ekf2 start
fw_pos_control_l1 start fw_pos_control_l1 start
fw_att_control start fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/plane_sitl.main.mix mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/plane_sitl.main.mix
mavlink start -u 14556 -r 2000000 mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 mavlink start -u 14557 -r 2000000 -m onboard -o 14540

2
src/modules/commander/commander.cpp
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@@ -97,8 +97,6 @@
#include <uORB/topics/telemetry_status.h> #include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_command_ack.h> #include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>

9
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -1184,9 +1184,8 @@ bool FixedwingPositionControl::update_desired_altitude(float dt)
bool FixedwingPositionControl::in_takeoff_situation() bool FixedwingPositionControl::in_takeoff_situation()
{ {
const hrt_abstime delta_takeoff = 10000000; const hrt_abstime delta_takeoff = 10000000;
const float throttle_threshold = 0.1f;
if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff && _manual.z > throttle_threshold if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff
&& _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff) { && _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff) {
return true; return true;
} }
@@ -1362,10 +1361,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
alt_sp = pos_sp_triplet.current.alt + 2.0f * _parameters.climbout_diff; alt_sp = pos_sp_triplet.current.alt + 2.0f * _parameters.climbout_diff;
} else { } else {
// use altitude given by wapoint // use altitude given by waypoint
alt_sp = pos_sp_triplet.current.alt; alt_sp = pos_sp_triplet.current.alt;
} }
if (in_takeoff_situation()) {
alt_sp = math::max(alt_sp, _takeoff_ground_alt + _parameters.climbout_diff);
}
if (in_takeoff_situation() || if (in_takeoff_situation() ||
((_global_pos.alt < pos_sp_triplet.current.alt + _parameters.climbout_diff) ((_global_pos.alt < pos_sp_triplet.current.alt + _parameters.climbout_diff)
&& _fw_pos_ctrl_status.abort_landing == true)) { && _fw_pos_ctrl_status.abort_landing == true)) {