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Added commander support for rattitude mode. Still need to incorporate attitude/rate switching in multicopter control

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This commit is contained in:
Eddy Scott
2015-10-20 20:38:42 -04:00
committed by Eddy
parent 8ba0c003db
commit c4a82d78c8
7 changed files with 96 additions and 14 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -304,6 +304,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
switch (new_main_state) {
case vehicle_status_s::MAIN_STATE_MANUAL:
case vehicle_status_s::MAIN_STATE_ACRO:
case vehicle_status_s::MAIN_STATE_RATTITUDE:
case vehicle_status_s::MAIN_STATE_STAB:
ret = TRANSITION_CHANGED;
break;
@@ -528,6 +529,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
switch (status->main_state) {
case vehicle_status_s::MAIN_STATE_ACRO:
case vehicle_status_s::MAIN_STATE_MANUAL:
case vehicle_status_s::MAIN_STATE_RATTITUDE:
case vehicle_status_s::MAIN_STATE_STAB:
case vehicle_status_s::MAIN_STATE_ALTCTL:
case vehicle_status_s::MAIN_STATE_POSCTL:
@@ -555,6 +557,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
break;
case vehicle_status_s::MAIN_STATE_RATTITUDE:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
break;
case vehicle_status_s::MAIN_STATE_STAB:
status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
break;