Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

more readable start and stop functions

Browse Source
This commit is contained in:
Gautier Hattenberger
2016-12-21 00:31:06 +01:00
parent 96370d7454
commit 34d2196f44
3 changed files with 51 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/autopilot/rotorcraft_autopilot.xml
+41 -7
View File
@@ -55,8 +55,11 @@
<exception cond="kill_switch_is_on()" deroute="KILL"/>
</exceptions>
<mode name="ATTITUDE_DIRECT" start="stabilization_attitude_enter()" shortname="ATT">
<mode name="ATTITUDE_DIRECT" shortname="ATT">
<select cond="RCMode0()"/>
<on_enter>
<call fun="stabilization_attitude_enter()"/>
</on_enter>
<control freq="NAV_FREQ">
<call fun="nav_periodic_task()"/>
</control>
@@ -68,8 +71,12 @@
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="ATTITUDE_Z_HOLD" start="stabilization_attitude_enter()|guidance_v_z_enter()" shortname="A_ZH">
<mode name="ATTITUDE_Z_HOLD" shortname="A_ZH">
<select cond="RCMode1()"/>
<on_enter>
<call fun="stabilization_attitude_enter()"/>
<call fun="guidance_v_z_enter()"/>
</on_enter>
<control freq="NAV_FREQ">
<call fun="nav_periodic_task()"/>
</control>
@@ -81,8 +88,13 @@
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="NAV" start="guidance_h_nav_enter()|stabilization_attitude_enter()|guidance_v_z_enter()">
<mode name="NAV">
<select cond="RCMode2() && DLModeNav()" exception="HOME"/>
<on_enter>
<call fun="guidance_h_nav_enter()"/>
<call fun="stabilization_attitude_enter()"/>
<call fun="guidance_v_z_enter()"/>
</on_enter>
<control freq="NAV_FREQ">
<call fun="nav_periodic_task()"/>
</control>
@@ -95,8 +107,14 @@
<exception cond="GpsIsLost() && autopilot_in_flight" deroute="FAILSAFE"/>
</mode>
<mode name="GUIDED" start="guidance_h.mode=GUIDANCE_H_MODE_GUIDED|guidance_h_hover_enter()|stabilization_attitude_enter()|guidance_v_mode=GUIDANCE_V_MODE_GUIDED|guidance_v_guided_enter()">
<mode name="GUIDED">
<select cond="RCMode2() && DLModeGuided()" exception="HOME"/>
<on_enter>
<call fun="guidance_h_hover_enter()"/>
<call fun="stabilization_attitude_enter()"/>
<call fun="guidance_v_mode = GUIDANCE_V_MODE_GUIDED"/>
<call fun="guidance_v_guided_enter()"/>
</on_enter>
<control freq="NAV_FREQ">
<call fun="nav_periodic_task()"/>
</control>
@@ -109,7 +127,12 @@
<exception cond="GpsIsLost() && autopilot_in_flight" deroute="FAILSAFE"/>
</mode>
<mode name="HOME" start="guidance_h_nav_enter()|stabilization_attitude_enter()|guidance_v_z_enter()">
<mode name="HOME">
<on_enter>
<call fun="guidance_h_nav_enter()"/>
<call fun="stabilization_attitude_enter()"/>
<call fun="guidance_v_z_enter()"/>
</on_enter>
<control freq="NAV_FREQ">
<call fun="nav_home()"/>
</control>
@@ -123,7 +146,12 @@
</mode>
<!-- Safe landing -->
<mode name="FAILSAFE" start="stabilization_attitude_set_failsafe_setpoint()|guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)|guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED)" shortname="FAIL">
<mode name="FAILSAFE" shortname="FAIL">
<on_enter>
<call fun="stabilization_attitude_set_failsafe_setpoint()"/>
<call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)"/>
<call fun="guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED)"/>
</on_enter>
<control>
<call fun="stabilization_attitude_set_failsafe_setpoint()"/>
<call fun="stabilization_attitude_run(autopilot_in_flight)"/>
@@ -135,9 +163,15 @@
</mode>
<!-- Kill throttle mode -->
<mode name="KILL" start="autopilot_in_flight = false | autopilot_in_flight_counter = 0 | autopilot_set_motors_on(false) | stabilization_cmd[COMMAND_THRUST] = 0">
<mode name="KILL">
<select cond="$DEFAULT_MODE"/>
<select cond="kill_switch_is_on()"/>
<on_enter>
<call fun="autopilot_in_flight = false"/>
<call fun="autopilot_in_flight_counter = 0"/>
<call fun="autopilot_set_motors_on(false)"/>
<call fun="stabilization_cmd[COMMAND_THRUST] = 0"/>
</on_enter>
<control>
<call fun="SetCommands(commands_failsafe)"/>
</control>