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fw att+pos ctrl: use enum for flaps configs

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This commit is contained in:
Thomas Stastny
2018-07-08 23:15:01 +02:00
committed by Lorenz Meier
parent 0c3399433d
commit 8a7919bcb6
3 changed files with 13 additions and 8 deletions
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5
msg/vehicle_attitude_setpoint.msg
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@@ -20,7 +20,10 @@ bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
int8 apply_flaps # 0 = no flaps, 1 = landing flaps setting, 2 = take-off flaps setting uint8 apply_flaps # flap config specifier
uint8 FLAPS_OFF = 0 # no flaps
uint8 FLAPS_LAND = 1 # landing config flaps
uint8 FLAPS_TAKEOFF = 2 # take-off config flaps
float32 landing_gear float32 landing_gear

10
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@@ -878,13 +878,14 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled } else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) { && fabsf(_parameters.flaps_scale) > 0.01f) {
switch (_att_sp.apply_flaps) { switch (_att_sp.apply_flaps) {
case 0 : flap_control = 0.0f; // no flaps case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
break; break;
case 1 : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
break; break;
case 2 : flap_control = 1.0f * _parameters.flaps_scale * _parameters.flaps_takeoff_scale; // take-off flaps case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *
_parameters.flaps_takeoff_scale; // take-off flaps
break; break;
} }
} }
@@ -907,7 +908,8 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled } else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) { && fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = (_att_sp.apply_flaps == 1) ? 1.0f * _parameters.flaperon_scale : 0.0f; flaperon_control = (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) ? 1.0f *
_parameters.flaperon_scale : 0.0f;
} }
// move the actual control value continuous with time, full flap travel in 1sec // move the actual control value continuous with time, full flap travel in 1sec

6
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@@ -704,7 +704,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
bool setpoint = true; bool setpoint = true;
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder _att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = 0; // by default we don't use flaps _att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
calculate_gndspeed_undershoot(curr_pos, ground_speed, pos_sp_prev, pos_sp_curr); calculate_gndspeed_undershoot(curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
@@ -1139,7 +1139,7 @@ FixedwingPositionControl::control_takeoff(const Vector2f &curr_pos, const Vector
// apply flaps for takeoff according to the corresponding scale factor set // apply flaps for takeoff according to the corresponding scale factor set
// via FW_FLAPS_TO_SCL // via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = 2; _att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_TAKEOFF;
// continuously reset launch detection and runway takeoff until armed // continuously reset launch detection and runway takeoff until armed
if (!_control_mode.flag_armed) { if (!_control_mode.flag_armed) {
@@ -1309,7 +1309,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
// apply full flaps for landings. this flag will also trigger the use of flaperons // apply full flaps for landings. this flag will also trigger the use of flaperons
// if they have been enabled using the corresponding parameter // if they have been enabled using the corresponding parameter
_att_sp.apply_flaps = 1; _att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
// save time at which we started landing and reset abort_landing // save time at which we started landing and reset abort_landing
if (_time_started_landing == 0) { if (_time_started_landing == 0) {