Set tailsitter flag via vehicle status

Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -33,8 +33,6 @@
 
 #include "FixedwingAttitudeControl.hpp"
 
-#include <vtol_att_control/vtol_type.h>
-
 using namespace time_literals;
 using math::constrain;
 using math::gradual;
@@ -48,15 +46,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
 	_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
-	// check if VTOL first
-	if (vtol) {
-		int32_t vt_type = -1;
-
-		if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
-			_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
-		}
-	}
-
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -128,7 +117,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
 	if (_vehicle_status.is_vtol) {
 		const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
 					 && !_vehicle_status.in_transition_mode;
-		const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _is_tailsitter;
+		const bool is_tailsitter_transition = _vehicle_status.in_transition_mode && _vehicle_status.is_vtol_tailsitter;
 
 		if (is_hovering || is_tailsitter_transition) {
 			_vcontrol_mode.flag_control_attitude_enabled = false;
@@ -140,7 +129,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
 void
 FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
 {
-	const bool is_tailsitter_transition = _is_tailsitter && _vehicle_status.in_transition_mode;
+	const bool is_tailsitter_transition = _vehicle_status.is_vtol_tailsitter && _vehicle_status.in_transition_mode;
 	const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 
 	if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
@@ -212,7 +201,7 @@ void
 FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
 {
 	if (_rates_sp_sub.update(&_rates_sp)) {
-		if (_is_tailsitter) {
+		if (_vehicle_status.is_vtol_tailsitter) {
 			float tmp = _rates_sp.roll;
 			_rates_sp.roll = -_rates_sp.yaw;
 			_rates_sp.yaw = tmp;
@@ -311,7 +300,7 @@ void FixedwingAttitudeControl::Run()
 		float pitchspeed = angular_velocity.xyz[1];
 		float yawspeed = angular_velocity.xyz[2];
 
-		if (_is_tailsitter) {
+		if (_vehicle_status.is_vtol_tailsitter) {
 			/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
 			 *
 			 * Since the VTOL airframe is initialized as a multicopter we need to
@@ -379,7 +368,7 @@ void FixedwingAttitudeControl::Run()
 		// lock integrator if no rate control enabled, or in RW mode (but not transitioning VTOL or tailsitter), or for long intervals (> 20 ms)
 		bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
 				       || (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
-					   !_vehicle_status.in_transition_mode && !_is_tailsitter)
+					   !_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)
 				       || (dt > 0.02f);
 
 		/* if we are in rotary wing mode, do nothing */
@@ -417,7 +406,7 @@ void FixedwingAttitudeControl::Run()
 			 */
 			if (_landed
 			    || (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
-				&& !_vehicle_status.in_transition_mode && !_is_tailsitter)) {
+				&& !_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)) {
 
 				_roll_ctrl.reset_integrator();
 				_pitch_ctrl.reset_integrator();

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -151,8 +151,6 @@ private:
 
 	bool _flag_control_attitude_enabled_last{false};
 
-	bool _is_tailsitter{false};
-
 	float _energy_integration_time{0.0f};
 	float _control_energy[4] {};
 	float _control_prev[3] {};

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -33,7 +33,6 @@
 
 #include "FixedwingPositionControl.hpp"
 
-#include <vtol_att_control/vtol_type.h>
 #include <px4_platform_common/events.h>
 
 using math::constrain;
@@ -59,12 +58,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 {
 	if (vtol) {
 		_param_handle_airspeed_trans = param_find("VT_ARSP_TRANS");
-
-		// VTOL parameter VTOL_TYPE
-		int32_t vt_type = -1;
-		param_get(param_find("VT_TYPE"), &vt_type);
-
-		_vtol_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
 	}
 
 	// limit to 50 Hz
@@ -370,7 +363,7 @@ FixedwingPositionControl::vehicle_attitude_poll()
 
 		// if the vehicle is a tailsitter we have to rotate the attitude by the pitch offset
 		// between multirotor and fixed wing flight
-		if (_vtol_tailsitter) {
+		if (_vehicle_status.is_vtol_tailsitter) {
 			const Dcmf R_offset{Eulerf{0.f, M_PI_2_F, 0.f}};
 			R = R * R_offset;
 

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -95,7 +95,6 @@
 #include <uORB/topics/wind.h>
 #include <uORB/topics/orbit_status.h>
 #include <uORB/uORB.h>
-#include <vtol_att_control/vtol_type.h>
 
 using namespace launchdetection;
 using namespace runwaytakeoff;
@@ -527,7 +526,6 @@ private:
 		(ParamFloat<px4::params::FW_TKO_PITCH_MIN>) _takeoff_pitch_min,
 
 		(ParamFloat<px4::params::NAV_FW_ALT_RAD>) _param_nav_fw_alt_rad
-
 	)
 
 };

src/modules/mc_att_control/mc_att_control.hpp

@@ -54,7 +54,6 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_land_detected.h>
-#include <vtol_att_control/vtol_type.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 
 #include <AttitudeControl.hpp>

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -58,13 +58,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_vtol(vtol)
 {
-	if (_vtol) {
-		int32_t vt_type = -1;
-
-		if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
-			_vtol_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
-		}
-	}
 
 	parameters_updated();
 }
@@ -301,6 +294,8 @@ MulticopterAttitudeControl::Run()
 				_vehicle_type_rotary_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
 				_vtol = vehicle_status.is_vtol;
 				_vtol_in_transition_mode = vehicle_status.in_transition_mode;
+				_vtol_tailsitter = vehicle_status.is_vtol_tailsitter;
+
 			}
 		}