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Lorenz Meier
2013-05-25 23:01:55 +02:00
parent bc7a7167ae
commit 1edc36bfd4
1 changed files with 17 additions and 7 deletions
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src/examples/fixedwing_control/main.c
+17 -7
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@@ -33,10 +33,13 @@
****************************************************************************/
/**
* @file main.c
* Implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller flying manual attitude control or auto waypoint control.
*
* Example implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller for manual attitude control or auto waypoint control.
* There is no need to touch any other system components to extend / modify the
* complete control architecture.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@@ -60,7 +63,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
@@ -306,7 +308,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
int ret = poll(fds, 2, 500);
if (ret < 0) {
/* poll error, this will not really happen in practice */
/*
* Poll error, this will not really happen in practice,
* but its good design practice to make output an error message.
*/
warnx("poll error");
} else if (ret == 0) {
@@ -332,6 +337,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_sp_sub, &global_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -357,10 +364,11 @@ int fixedwing_control_thread_main(int argc, char *argv[])
}
}
/* get the RC (or otherwise user based) input */
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
/* check if the throttle was ever more than 50% - go only to failsafe if yes */
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.6f) &&
(manual_sp.throttle <= 1.0f)) {
@@ -372,6 +380,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* control */
/* if in auto mode, fly global position setpoint */
if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
@@ -391,6 +400,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* set flaps to zero */
actuators.control[4] = 0.0f;
/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {