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Allow new modes for forward thrust

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This commit is contained in:
Sander Smeets
2021-02-17 15:28:10 +01:00
committed by Daniel Agar
parent 1b8a3079e6
commit a8a9832b59
3 changed files with 25 additions and 1 deletions
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2
src/modules/vtol_att_control/standard_params.c
View File

@@ -53,6 +53,8 @@
* @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
* @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
* @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
* @value 5 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).
* @value 6 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).
*
* @group VTOL Attitude Control
*/

20
src/modules/vtol_att_control/vtol_type.cpp
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@@ -497,6 +497,26 @@ float VtolType::pusher_assist()
return 0.0f;
}
break;
case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode
if ((_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
&& _v_control_mode->flag_control_auto_enabled) ||
(!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt1))) {
return 0.0f;
}
break;
case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode
if ((_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
&& _v_control_mode->flag_control_auto_enabled) ||
(!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt2))) {
return 0.0f;
}
break;
}

4
src/modules/vtol_att_control/vtol_type.h
View File

@@ -100,7 +100,9 @@ enum VtolForwardActuationMode {
ENABLE_WITHOUT_LAND,
ENABLE_ABOVE_MPC_LAND_ALT1,
ENABLE_ABOVE_MPC_LAND_ALT2,
ENABLE_ALL_MODES
ENABLE_ALL_MODES,
ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND,
ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND
};
// these are states that can be applied to a selection of multirotor motors.