Mirrors_Framework/PX4-Autopilot
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Disable PA during landing

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This commit is contained in:
sanderux
2017-08-15 00:13:44 +02:00
committed by Lorenz Meier
parent e6c942033b
commit 33e67fd527
3 changed files with 15 additions and 14 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -2
View File
@@ -407,8 +407,9 @@ void Standard::update_mc_state()
return; return;
} }
// disable pusher assist when descending // disable pusher assist during landing
if (PX4_ISFINITE(_attc->get_local_pos_sp()->vz) && _attc->get_local_pos_sp()->vz > 0.5f) { if (_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
return; return;
} }
src/modules/vtol_att_control/vtol_att_control_main.cpp
+7 -7
View File
@@ -76,7 +76,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_manual_control_sp_sub(-1), _manual_control_sp_sub(-1),
_armed_sub(-1), _armed_sub(-1),
_local_pos_sub(-1), _local_pos_sub(-1),
_local_pos_sp_sub(-1), _pos_sp_triplet_sub(-1),
_airspeed_sub(-1), _airspeed_sub(-1),
_battery_status_sub(-1), _battery_status_sub(-1),
_vehicle_cmd_sub(-1), _vehicle_cmd_sub(-1),
@@ -110,7 +110,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in)); memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
memset(&_armed, 0, sizeof(_armed)); memset(&_armed, 0, sizeof(_armed));
memset(&_local_pos, 0, sizeof(_local_pos)); memset(&_local_pos, 0, sizeof(_local_pos));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp)); memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
memset(&_airspeed, 0, sizeof(_airspeed)); memset(&_airspeed, 0, sizeof(_airspeed));
memset(&_batt_status, 0, sizeof(_batt_status)); memset(&_batt_status, 0, sizeof(_batt_status));
memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd)); memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd));
@@ -379,14 +379,14 @@ VtolAttitudeControl::vehicle_local_pos_poll()
* Check for position setpoint updates. * Check for position setpoint updates.
*/ */
void void
VtolAttitudeControl::vehicle_local_pos_sp_poll() VtolAttitudeControl::pos_sp_triplet_poll()
{ {
bool updated; bool updated;
/* Check if parameters have changed */ /* Check if parameters have changed */
orb_check(_local_pos_sp_sub, &updated); orb_check(_pos_sp_triplet_sub, &updated);
if (updated) { if (updated) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_sub, &_local_pos_sp); orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
} }
} }
@@ -668,7 +668,7 @@ void VtolAttitudeControl::task_main()
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed)); _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status)); _battery_status_sub = orb_subscribe(ORB_ID(battery_status));
_vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); _vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -757,7 +757,7 @@ void VtolAttitudeControl::task_main()
vehicle_rates_sp_fw_poll(); vehicle_rates_sp_fw_poll();
parameters_update_poll(); parameters_update_poll();
vehicle_local_pos_poll(); // Check for new sensor values vehicle_local_pos_poll(); // Check for new sensor values
vehicle_local_pos_sp_poll(); pos_sp_triplet_poll();
vehicle_airspeed_poll(); vehicle_airspeed_poll();
vehicle_battery_poll(); vehicle_battery_poll();
vehicle_cmd_poll(); vehicle_cmd_poll();
src/modules/vtol_att_control/vtol_att_control_main.h
+5 -5
View File
@@ -77,7 +77,7 @@
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vtol_vehicle_status.h> #include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
@@ -117,7 +117,7 @@ public:
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;} struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
struct actuator_armed_s *get_armed() {return &_armed;} struct actuator_armed_s *get_armed() {return &_armed;}
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;} struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
struct vehicle_local_position_setpoint_s *get_local_pos_sp() {return &_local_pos_sp;} struct position_setpoint_triplet_s *get_pos_sp_triplet() {return &_pos_sp_triplet;}
struct airspeed_s *get_airspeed() {return &_airspeed;} struct airspeed_s *get_airspeed() {return &_airspeed;}
struct battery_status_s *get_batt_status() {return &_batt_status;} struct battery_status_s *get_batt_status() {return &_batt_status;}
struct tecs_status_s *get_tecs_status() {return &_tecs_status;} struct tecs_status_s *get_tecs_status() {return &_tecs_status;}
@@ -144,7 +144,7 @@ private:
int _manual_control_sp_sub; //manual control setpoint subscription int _manual_control_sp_sub; //manual control setpoint subscription
int _armed_sub; //arming status subscription int _armed_sub; //arming status subscription
int _local_pos_sub; // sensor subscription int _local_pos_sub; // sensor subscription
int _local_pos_sp_sub; // local position setpoint subscription int _pos_sp_triplet_sub; // local position setpoint subscription
int _airspeed_sub; // airspeed subscription int _airspeed_sub; // airspeed subscription
int _battery_status_sub; // battery status subscription int _battery_status_sub; // battery status subscription
int _vehicle_cmd_sub; int _vehicle_cmd_sub;
@@ -178,7 +178,7 @@ private:
struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s _armed; //actuator arming status struct actuator_armed_s _armed; //actuator arming status
struct vehicle_local_position_s _local_pos; struct vehicle_local_position_s _local_pos;
struct vehicle_local_position_setpoint_s _local_pos_sp; struct position_setpoint_triplet_s _pos_sp_triplet;
struct airspeed_s _airspeed; // airspeed struct airspeed_s _airspeed; // airspeed
struct battery_status_s _batt_status; // battery status struct battery_status_s _batt_status; // battery status
struct vehicle_command_s _vehicle_cmd; struct vehicle_command_s _vehicle_cmd;
@@ -230,7 +230,7 @@ private:
void vehicle_rates_sp_mc_poll(); void vehicle_rates_sp_mc_poll();
void vehicle_rates_sp_fw_poll(); void vehicle_rates_sp_fw_poll();
void vehicle_local_pos_poll(); // Check for changes in sensor values void vehicle_local_pos_poll(); // Check for changes in sensor values
void vehicle_local_pos_sp_poll(); // Check for changes in position setpoint values void pos_sp_triplet_poll(); // Check for changes in position setpoint values
void vehicle_airspeed_poll(); // Check for changes in airspeed void vehicle_airspeed_poll(); // Check for changes in airspeed
void vehicle_attitude_setpoint_poll(); //Check for attitude setpoint updates. void vehicle_attitude_setpoint_poll(); //Check for attitude setpoint updates.
void vehicle_attitude_poll(); //Check for attitude updates. void vehicle_attitude_poll(); //Check for attitude updates.