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Position control needs to be deactivated during the transition otherwise it will fight itself.

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This commit is contained in:
Simon Wilks
2015-08-07 16:43:16 +02:00
committed by tumbili
parent e7364d302a
commit c448f955e0
3 changed files with 11 additions and 4 deletions
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1
msg/vtol_vehicle_status.msg
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@@ -1,4 +1,5 @@
uint64 timestamp # Microseconds since system boot
bool vtol_in_rw_mode # true: vtol vehicle is in rotating wing mode
bool vtol_in_trans_mode
bool fw_permanent_stab # In fw mode stabilize attitude even if in manual mode
float32 airspeed_tot # Estimated airspeed over control surfaces

10
src/modules/commander/commander.cpp
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@@ -197,6 +197,8 @@ static struct home_position_s _home;
static unsigned _last_mission_instance = 0;
struct vtol_vehicle_status_s vtol_status;
/**
* The daemon app only briefly exists to start
* the background job. The stack size assigned in the
@@ -1169,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to vtol vehicle status topic */
int vtol_vehicle_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
struct vtol_vehicle_status_s vtol_status;
//struct vtol_vehicle_status_s vtol_status;
memset(&vtol_status, 0, sizeof(vtol_status));
vtol_status.vtol_in_rw_mode = true; //default for vtol is rotary wing
@@ -2682,13 +2684,13 @@ set_control_mode()
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;

4
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@@ -491,6 +491,7 @@ void VtolAttitudeControl::task_main()
if (_vtol_type->get_mode() == ROTARY_WING) {
// vehicle is in rotary wing mode
_vtol_vehicle_status.vtol_in_rw_mode = true;
_vtol_vehicle_status.vtol_in_trans_mode = false;
// got data from mc attitude controller
if (fds[0].revents & POLLIN) {
@@ -503,6 +504,7 @@ void VtolAttitudeControl::task_main()
} else if (_vtol_type->get_mode() == FIXED_WING) {
// vehicle is in fw mode
_vtol_vehicle_status.vtol_in_rw_mode = false;
_vtol_vehicle_status.vtol_in_trans_mode = false;
// got data from fw attitude controller
if (fds[1].revents & POLLIN) {
@@ -515,6 +517,8 @@ void VtolAttitudeControl::task_main()
}
} else if (_vtol_type->get_mode() == TRANSITION) {
// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
bool got_new_data = false;
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);