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vtol_att_control: limit state updates to input availability and always publish both FW/MC actuator controls

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This commit is contained in:
Daniel Agar
2019-09-02 14:13:33 -04:00
committed by GitHub
parent 06cf801121
commit 6938955b8d
2 changed files with 47 additions and 42 deletions
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87
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@@ -374,67 +374,72 @@ VtolAttitudeControl::Run()
} }
// check in which mode we are in and call mode specific functions // check in which mode we are in and call mode specific functions
if (_vtol_type->get_mode() == mode::ROTARY_WING) { switch (_vtol_type->get_mode()) {
case mode::TRANSITION_TO_FW:
case mode::TRANSITION_TO_MC:
// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
_vtol_vehicle_status.vtol_in_rw_mode = true; // making mc attitude controller work during transition
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);
_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp); _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
if (_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp)) {
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
_vtol_type->update_transition_state();
_v_att_sp_pub.publish(_v_att_sp);
}
break;
case mode::ROTARY_WING:
// vehicle is in rotary wing mode // vehicle is in rotary wing mode
_vtol_vehicle_status.vtol_in_rw_mode = true; _vtol_vehicle_status.vtol_in_rw_mode = true;
_vtol_vehicle_status.vtol_in_trans_mode = false; _vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false; _vtol_vehicle_status.in_transition_to_fw = false;
// got data from mc attitude controller // got data from mc attitude controller
_vtol_type->update_mc_state(); if (_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp)) {
} else if (_vtol_type->get_mode() == mode::FIXED_WING) { // reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp); _vtol_type->update_mc_state();
_v_att_sp_pub.publish(_v_att_sp);
}
break;
case mode::FIXED_WING:
// vehicle is in fw mode // vehicle is in fw mode
_vtol_vehicle_status.vtol_in_rw_mode = false; _vtol_vehicle_status.vtol_in_rw_mode = false;
_vtol_vehicle_status.vtol_in_trans_mode = false; _vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false; _vtol_vehicle_status.in_transition_to_fw = false;
_vtol_type->update_fw_state(); if (_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp)) {
_vtol_type->update_fw_state();
_v_att_sp_pub.publish(_v_att_sp);
}
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC || _vtol_type->get_mode() == mode::TRANSITION_TO_FW) { break;
_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp);
_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
_vtol_vehicle_status.vtol_in_rw_mode = true; //making mc attitude controller work during transition
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);
_vtol_type->update_transition_state();
} }
_vtol_type->fill_actuator_outputs(); _vtol_type->fill_actuator_outputs();
_actuators_0_pub.publish(_actuators_out_0);
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept _actuators_1_pub.publish(_actuators_out_1);
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
/* Only publish if the proper mode(s) are enabled */
if (_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled) {
_v_att_sp_pub.publish(_v_att_sp);
if (updated_mc_in) {
_actuators_0_pub.publish(_actuators_out_0);
}
if (updated_fw_in) {
_actuators_1_pub.publish(_actuators_out_1);
}
}
// Advertise/Publish vtol vehicle status // Advertise/Publish vtol vehicle status
_vtol_vehicle_status.timestamp = hrt_absolute_time(); _vtol_vehicle_status.timestamp = hrt_absolute_time();

2
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@@ -132,7 +132,7 @@ public:
struct Params *get_params() {return &_params;} struct Params *get_params() {return &_params;}
private: private:
/* handlers for subscriptions */
uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)}; uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)}; uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};