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WeatherVane: Allow weathervane on multirotors not just VTOLs

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This commit is contained in:
Matthias Grob
2022-06-15 14:50:00 +02:00
parent 54145cedc7
commit 479c85047f
2 changed files with 2 additions and 9 deletions
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src/lib/weather_vane/WeatherVane.cpp
+2 -8
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@@ -47,12 +47,6 @@ WeatherVane::WeatherVane(ModuleParams *parent) :
void WeatherVane::update() void WeatherVane::update()
{ {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.update(&vehicle_status)) {
_is_vtol = vehicle_status.is_vtol;
}
vehicle_control_mode_s vehicle_control_mode; vehicle_control_mode_s vehicle_control_mode;
if (_vehicle_control_mode_sub.update(&vehicle_control_mode)) { if (_vehicle_control_mode_sub.update(&vehicle_control_mode)) {
@@ -60,10 +54,10 @@ void WeatherVane::update()
_flag_control_position_enabled = vehicle_control_mode.flag_control_position_enabled; _flag_control_position_enabled = vehicle_control_mode.flag_control_position_enabled;
} }
// Weathervane is only enabled for VTOLs if it's enabled by parameter // Weathervane needs to be enabled by parameter
// in manual we use weathervane just if position is controlled as well // in manual we use weathervane just if position is controlled as well
// in mission we use weathervane except for when navigator disables it // in mission we use weathervane except for when navigator disables it
_is_active = _is_vtol && _param_wv_en.get() _is_active = _param_wv_en.get()
&& ((_flag_control_manual_enabled && _flag_control_position_enabled) && ((_flag_control_manual_enabled && _flag_control_position_enabled)
|| (!_flag_control_manual_enabled && !_navigator_force_disabled)); || (!_flag_control_manual_enabled && !_navigator_force_disabled));
} }
src/lib/weather_vane/WeatherVane.hpp
-1
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@@ -74,7 +74,6 @@ private:
bool _is_active{false}; bool _is_active{false};
// local copies of status such that we don't need to copy uORB messages all the time // local copies of status such that we don't need to copy uORB messages all the time
bool _is_vtol{false};
bool _flag_control_manual_enabled{false}; bool _flag_control_manual_enabled{false};
bool _flag_control_position_enabled{false}; bool _flag_control_position_enabled{false};
bool _navigator_force_disabled{false}; bool _navigator_force_disabled{false};