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Fix landing gear processing

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This commit is contained in:
Matthias Grob
2021-10-22 14:55:04 +02:00
parent 0a02d8e774
commit 820ba07d4b
3 changed files with 11 additions and 15 deletions
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src/modules/manual_control/ManualControl.cpp
+4 -11
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@@ -32,12 +32,6 @@
****************************************************************************/ ****************************************************************************/
#include "ManualControl.hpp" #include "ManualControl.hpp"
#include <drivers/drv_hrt.h>
#include <commander/px4_custom_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/commander_state.h> #include <uORB/topics/commander_state.h>
namespace manual_control namespace manual_control
@@ -201,10 +195,10 @@ void ManualControl::Run()
&& _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) { && _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) {
if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) { if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
publish_landing_gear(landing_gear_s::GEAR_UP); publishLandingGear(landing_gear_s::GEAR_UP);
} else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) { } else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) {
publish_landing_gear(landing_gear_s::GEAR_DOWN); publishLandingGear(landing_gear_s::GEAR_DOWN);
} }
} }
@@ -335,13 +329,12 @@ void ManualControl::sendActionRequest(int8_t action, int8_t source, int8_t mode)
_action_request_pub.publish(action_request); _action_request_pub.publish(action_request);
} }
void ManualControl::publish_landing_gear(int8_t action) void ManualControl::publishLandingGear(int8_t action)
{ {
landing_gear_s landing_gear{}; landing_gear_s landing_gear{};
landing_gear.landing_gear = action; landing_gear.landing_gear = action;
landing_gear.timestamp = hrt_absolute_time(); landing_gear.timestamp = hrt_absolute_time();
uORB::Publication<landing_gear_s> landing_gear_pub{ORB_ID(landing_gear)}; _landing_gear_pub.publish(landing_gear);
landing_gear_pub.publish(landing_gear);
} }
int ManualControl::task_spawn(int argc, char *argv[]) int ManualControl::task_spawn(int argc, char *argv[])
src/modules/manual_control/ManualControl.hpp
+6 -3
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@@ -33,14 +33,16 @@
#pragma once #pragma once
#include <drivers/drv_hrt.h>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h> #include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h> #include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/action_request.h> #include <uORB/topics/action_request.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_input.h> #include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h> #include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
@@ -122,9 +124,10 @@ private:
void evaluateModeSlot(uint8_t mode_slot); void evaluateModeSlot(uint8_t mode_slot);
void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0); void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);
void publish_landing_gear(int8_t action); void publishLandingGear(int8_t action);
uORB::Publication<action_request_s> _action_request_pub{ORB_ID(action_request)}; uORB::Publication<action_request_s> _action_request_pub{ORB_ID(action_request)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)}; uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -1
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@@ -154,7 +154,7 @@ MulticopterRateControl::Run()
if (_landing_gear_sub.copy(&landing_gear)) { if (_landing_gear_sub.copy(&landing_gear)) {
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) { if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
if (landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) { if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear") mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")
} else { } else {