Use action_request to command RC VTOL transitions

msg/action_request.msg

@@ -7,6 +7,8 @@ uint8 ACTION_TOGGLE_ARMING = 2
 uint8 ACTION_UNKILL = 3
 uint8 ACTION_KILL = 4
 uint8 ACTION_SWITCH_MODE = 5
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
 
 uint8 source # how the request was triggered
 uint8 SOURCE_RC_STICK_GESTURE = 0

src/modules/manual_control/ManualControl.cpp

@@ -232,10 +232,10 @@ void ManualControl::Run()
 
 					if (switches.transition_switch != _previous_switches.transition_switch) {
 						if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON) {
-							send_vtol_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
+							sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING, action_request_s::SOURCE_RC_SWITCH);
 
 						} else if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_OFF) {
-							send_vtol_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
+							sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER, action_request_s::SOURCE_RC_SWITCH);
 						}
 					}
 
@@ -342,19 +342,6 @@ void ManualControl::publish_landing_gear(int8_t action)
 	landing_gear_pub.publish(landing_gear);
 }
 
-void ManualControl::send_vtol_transition_command(uint8_t action)
-{
-	vehicle_command_s command{};
-	command.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
-	command.param1 = action;
-	command.target_system = _param_mav_sys_id.get();
-	command.target_component = _param_mav_comp_id.get();
-
-	uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
-	command.timestamp = hrt_absolute_time();
-	command_pub.publish(command);
-}
-
 int ManualControl::task_spawn(int argc, char *argv[])
 {
 	ManualControl *instance = new ManualControl();

src/modules/manual_control/ManualControl.hpp

@@ -122,7 +122,6 @@ private:
 	void evaluateModeSlot(uint8_t mode_slot);
 	void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);
 	void publish_landing_gear(int8_t action);
-	void send_vtol_transition_command(uint8_t action);
 
 	uORB::Publication<action_request_s> _action_request_pub{ORB_ID(action_request)};
 	uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -139,6 +139,27 @@ VtolAttitudeControl::init()
 	return true;
 }
 
+void VtolAttitudeControl::action_request_poll()
+{
+	while (_action_request_sub.updated()) {
+		action_request_s action_request;
+
+		if (_action_request_sub.copy(&action_request)) {
+			switch (action_request.action) {
+			case action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER:
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+				_immediate_transition = false;
+				break;
+
+			case action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING:
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+				_immediate_transition = false;
+				break;
+			}
+		}
+	}
+}
+
 void VtolAttitudeControl::vehicle_cmd_poll()
 {
 	vehicle_command_s vehicle_command;
@@ -181,27 +202,6 @@ void VtolAttitudeControl::vehicle_cmd_poll()
 	}
 }
 
-/*
- * Returns true if fixed-wing mode is requested.
- * Changed either via switch or via command.
- */
-bool
-VtolAttitudeControl::is_fixed_wing_requested()
-{
-	bool to_fw = false;
-
-	if (_manual_control_switches.transition_switch != manual_control_switches_s::SWITCH_POS_NONE &&
-	    _v_control_mode.flag_control_manual_enabled) {
-		to_fw = (_manual_control_switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON);
-
-	} else {
-		// listen to transition commands if not in manual or mode switch is not mapped
-		to_fw = (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
-	}
-
-	return to_fw;
-}
-
 void
 VtolAttitudeControl::quadchute(QuadchuteReason reason)
 {
@@ -434,7 +434,6 @@ VtolAttitudeControl::Run()
 		}
 
 		_v_control_mode_sub.update(&_v_control_mode);
-		_manual_control_switches_sub.update(&_manual_control_switches);
 		_v_att_sub.update(&_v_att);
 		_local_pos_sub.update(&_local_pos);
 		_local_pos_sp_sub.update(&_local_pos_sp);
@@ -442,6 +441,7 @@ VtolAttitudeControl::Run()
 		_airspeed_validated_sub.update(&_airspeed_validated);
 		_tecs_status_sub.update(&_tecs_status);
 		_land_detected_sub.update(&_land_detected);
+		action_request_poll();
 		vehicle_cmd_poll();
 
 		// check if mc and fw sp were updated
@@ -451,24 +451,6 @@ VtolAttitudeControl::Run()
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();
 
-		// reset transition command if not auto control
-		if (_v_control_mode.flag_control_manual_enabled) {
-			if (_vtol_type->get_mode() == mode::ROTARY_WING) {
-				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-
-			} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
-				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
-
-			} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
-				/* We want to make sure that a mode change (manual>auto) during the back transition
-				 * doesn't result in an unsafe state. This prevents the instant fall back to
-				 * fixed-wing on the switch from manual to auto */
-				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-			}
-		}
-
-
-
 		// check in which mode we are in and call mode specific functions
 		switch (_vtol_type->get_mode()) {
 		case mode::TRANSITION_TO_FW:

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -64,9 +64,9 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/action_request.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed_validated.h>
-#include <uORB/topics/manual_control_switches.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/tecs_status.h>
@@ -116,7 +116,7 @@ public:
 
 	bool init();
 
-	bool is_fixed_wing_requested();
+	bool is_fixed_wing_requested() { return _transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW; };
 	void quadchute(QuadchuteReason reason);
 	int get_transition_command() {return _transition_command;}
 	bool get_immediate_transition() {return _immediate_transition;}
@@ -150,12 +150,12 @@ private:
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
+	uORB::Subscription _action_request_sub{ORB_ID(action_request)};
 	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};			// airspeed subscription
 	uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
 	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};			// setpoint subscription
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};			// sensor subscription
-	uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};	//manual control setpoint subscription
 	uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};			// local position setpoint subscription
 	uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
@@ -181,7 +181,6 @@ private:
 	actuator_controls_s			_actuators_out_1{};	//actuator controls going to the fw mixer (used for elevons)
 
 	airspeed_validated_s 				_airspeed_validated{};			// airspeed
-	manual_control_switches_s		_manual_control_switches{}; //manual control setpoint
 	position_setpoint_triplet_s		_pos_sp_triplet{};
 	tecs_status_s				_tecs_status{};
 	vehicle_attitude_s			_v_att{};				//vehicle attitude
@@ -243,6 +242,7 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
+	void		action_request_poll();
 	void		vehicle_cmd_poll();
 
 	int 		parameters_update();			//Update local parameter cache