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mc_att_control: don't use main state for RATTITUDE 

Instead of the state use the boolean flags.
sbg
Julian Oes 9 years ago
parent
5c9713f05b
commit
1ad0ee0fae
3 changed files with 15 additions and 1 deletions
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  1. 1
      msg/vehicle_control_mode.msg
  2. 13
      src/modules/commander/commander.cpp
  3. 2
      src/modules/mc_att_control/mc_att_control_main.cpp

1
msg/vehicle_control_mode.msg
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@ -14,6 +14,7 @@ bool flag_control_auto_enabled # true if onboard autopilot should act @@ -14,6 +14,7 @@ bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_rattitude_enabled # true if rate/attitude stabilization is enabled
bool flag_control_force_enabled # true if force control is mixed in
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_position_enabled # true if position is controlled

13
src/modules/commander/commander.cpp
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@ -3176,6 +3176,7 @@ set_control_mode() @@ -3176,6 +3176,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = stabilization_required();
control_mode.flag_control_attitude_enabled = stabilization_required();
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
@ -3188,6 +3189,7 @@ set_control_mode() @@ -3188,6 +3189,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
@ -3202,6 +3204,7 @@ set_control_mode() @@ -3202,6 +3204,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
@ -3214,6 +3217,7 @@ set_control_mode() @@ -3214,6 +3217,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
@ -3226,6 +3230,7 @@ set_control_mode() @@ -3226,6 +3230,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
@ -3249,6 +3254,7 @@ set_control_mode() @@ -3249,6 +3254,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
@ -3261,6 +3267,7 @@ set_control_mode() @@ -3261,6 +3267,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
@ -3273,6 +3280,7 @@ set_control_mode() @@ -3273,6 +3280,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
@ -3286,6 +3294,7 @@ set_control_mode() @@ -3286,6 +3294,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status_flags.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status_flags.condition_local_position_valid;
@ -3300,6 +3309,7 @@ set_control_mode() @@ -3300,6 +3309,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
@ -3313,6 +3323,7 @@ set_control_mode() @@ -3313,6 +3323,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_altitude_enabled = false;
@ -3340,6 +3351,8 @@ set_control_mode() @@ -3340,6 +3351,8 @@ set_control_mode()
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !status.in_transition_mode;

2
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -877,7 +877,7 @@ MulticopterAttitudeControl::task_main() @@ -877,7 +877,7 @@ MulticopterAttitudeControl::task_main()
/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
* or roll (yaw can rotate 360 in normal att control). If both are true don't
* even bother running the attitude controllers */
if (_vehicle_status.main_state == vehicle_status_s::MAIN_STATE_RATTITUDE) {
if (_v_control_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual_control_sp.y) > _params.rattitude_thres ||
fabsf(_manual_control_sp.x) > _params.rattitude_thres) {
_v_control_mode.flag_control_attitude_enabled = false;

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