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commander, multirotor_pos_control, multirotor_att_control: bugfixes

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This commit is contained in:
Anton Babushkin
2013-08-16 23:36:49 +02:00
parent 4882bc0f1c
commit c543f89ec1
6 changed files with 134 additions and 121 deletions
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89
src/modules/commander/state_machine_helper.cpp
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@@ -109,9 +109,8 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
/* allow arming from STANDBY and IN-AIR-RESTORE */
if ((status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
&& (!safety->safety_switch_available || safety->safety_off)) /* only allow arming if safety is off */
{
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
&& (!safety->safety_switch_available || safety->safety_off)) { /* only allow arming if safety is off */
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = false;
@@ -182,6 +181,7 @@ bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s
// 3) Safety switch is present AND engaged -> actuators locked
if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
return true;
} else {
return false;
}
@@ -284,6 +284,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = false;
control_mode->flag_control_climb_rate_enabled = false;
control_mode->flag_control_manual_enabled = false;
break;
@@ -294,6 +295,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = false;
control_mode->flag_control_climb_rate_enabled = false;
control_mode->flag_control_manual_enabled = true;
break;
@@ -304,6 +306,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = false;
control_mode->flag_control_climb_rate_enabled = false;
control_mode->flag_control_manual_enabled = true;
break;
@@ -314,6 +317,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = true;
break;
@@ -324,80 +328,68 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = true;
break;
case NAVIGATION_STATE_AUTO_READY:
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_rates_enabled = false;
control_mode->flag_control_attitude_enabled = false;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_altitude_enabled = false;
control_mode->flag_control_climb_rate_enabled = false;
control_mode->flag_control_manual_enabled = false;
break;
case NAVIGATION_STATE_AUTO_TAKEOFF:
/* only transitions from AUTO_READY */
if (current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
if (current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
break;
case NAVIGATION_STATE_AUTO_LOITER:
/* deny transitions from landed states */
if (current_status->navigation_state != NAVIGATION_STATE_STANDBY &&
current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
/* deny transitions from landed states */
if (current_status->navigation_state != NAVIGATION_STATE_STANDBY &&
current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
break;
case NAVIGATION_STATE_AUTO_RTL:
/* deny transitions from landed states */
if (current_status->navigation_state != NAVIGATION_STATE_STANDBY &&
current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) {
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
ret = TRANSITION_CHANGED;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
break;
case NAVIGATION_STATE_AUTO_LAND:
@@ -411,6 +403,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_altitude_enabled = true;
control_mode->flag_control_climb_rate_enabled = true;
control_mode->flag_control_manual_enabled = false;
}