vtol_vehicle_status: replace several status bools by single vehicle_vtol_state

Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

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

msg/vehicle_status.msg

@@ -69,7 +69,7 @@ uint8 system_type			# system type, contains mavlink MAV_TYPE
 uint8 system_id			# system id, contains MAVLink's system ID field
 uint8 component_id			# subsystem / component id, contains MAVLink's component ID field
 
-uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
+uint8 vehicle_type          # Type of vehicle (rotary wing/fixed-wing/rover/airship, see above)
                             # If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
                             # and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
 

msg/vtol_vehicle_status.msg

@@ -7,7 +7,6 @@ uint8 VEHICLE_VTOL_STATE_FW = 4
 
 uint64 timestamp			# time since system start (microseconds)
 
-bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
-bool vtol_in_trans_mode
-bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
+uint8 vehicle_vtol_state			# current state of the vtol, see VEHICLE_VTOL_STATE
+
 bool vtol_transition_failsafe		# vtol in transition failsafe mode

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -513,7 +513,8 @@ void AirspeedModule::update_wind_estimator_sideslip()
 	// update wind and airspeed estimator
 	_wind_estimator_sideslip.update(_time_now_usec);
 
-	if (_vehicle_local_position_valid && !_vtol_vehicle_status.vtol_in_rw_mode) {
+	if (_vehicle_local_position_valid
+	    && _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
 		Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
 		Quatf q(_vehicle_attitude.q);
 

src/modules/commander/Commander.cpp

@@ -827,7 +827,7 @@ Commander::Commander() :
 	_status_flags.rc_calibration_valid = true;
 
 	// default for vtol is rotary wing
-	_vtol_status.vtol_in_rw_mode = true;
+	_vtol_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
 	_vehicle_gps_position_valid.set_hysteresis_time_from(false, GPS_VALID_TIME);
 	_vehicle_gps_position_valid.set_hysteresis_time_from(true, GPS_VALID_TIME);
@@ -2083,8 +2083,10 @@ void Commander::updateParameters()
 	_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
 	_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1_s);
 
-	const bool is_rotary = is_rotary_wing(_status) || (is_vtol(_status) && _vtol_status.vtol_in_rw_mode);
-	const bool is_fixed = is_fixed_wing(_status) || (is_vtol(_status) && !_vtol_status.vtol_in_rw_mode);
+	const bool is_rotary = is_rotary_wing(_status) || (is_vtol(_status)
+			       && _vtol_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
+	const bool is_fixed = is_fixed_wing(_status) || (is_vtol(_status)
+			      && _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
 	const bool is_ground = is_ground_rover(_status);
 
 	/* disable manual override for all systems that rely on electronic stabilization */
@@ -2304,25 +2306,29 @@ Commander::run()
 			/* Make sure that this is only adjusted if vehicle really is of type vtol */
 			if (is_vtol(_status)) {
 
-				// Check if there has been any change while updating the flags
-				const auto new_vehicle_type = _vtol_status.vtol_in_rw_mode ?
-							      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
-							      vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+				// Check if there has been any change while updating the flags (transition = rotary wing status)
+				const auto new_vehicle_type = _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW ?
+							      vehicle_status_s::VEHICLE_TYPE_FIXED_WING :
+							      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
 				if (new_vehicle_type != _status.vehicle_type) {
-					_status.vehicle_type = _vtol_status.vtol_in_rw_mode ?
-							       vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
-							       vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+					_status.vehicle_type = new_vehicle_type;
 					_status_changed = true;
 				}
 
-				if (_status.in_transition_mode != _vtol_status.vtol_in_trans_mode) {
-					_status.in_transition_mode = _vtol_status.vtol_in_trans_mode;
+				const bool new_in_transition = _vtol_status.vehicle_vtol_state ==
+							       vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW
+							       || _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_MC;
+
+				if (_status.in_transition_mode != new_in_transition) {
+					_status.in_transition_mode = new_in_transition;
 					_status_changed = true;
 				}
 
-				if (_status.in_transition_to_fw != _vtol_status.in_transition_to_fw) {
-					_status.in_transition_to_fw = _vtol_status.in_transition_to_fw;
+				if (_status.in_transition_to_fw != (_vtol_status.vehicle_vtol_state ==
+								    vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW)) {
+					_status.in_transition_to_fw = (_vtol_status.vehicle_vtol_state ==
+								       vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW);
 					_status_changed = true;
 				}
 

src/modules/vtol_att_control/tailsitter.cpp

@@ -174,24 +174,20 @@ void Tailsitter::update_vtol_state()
 	switch (_vtol_schedule.flight_mode) {
 	case vtol_mode::MC_MODE:
 		_vtol_mode = mode::ROTARY_WING;
-		_vtol_vehicle_status->vtol_in_trans_mode = false;
 		_flag_was_in_trans_mode = false;
 		break;
 
 	case vtol_mode::FW_MODE:
 		_vtol_mode = mode::FIXED_WING;
-		_vtol_vehicle_status->vtol_in_trans_mode = false;
 		_flag_was_in_trans_mode = false;
 		break;
 
 	case vtol_mode::TRANSITION_FRONT_P1:
 		_vtol_mode = mode::TRANSITION_TO_FW;
-		_vtol_vehicle_status->vtol_in_trans_mode = true;
 		break;
 
 	case vtol_mode::TRANSITION_BACK:
 		_vtol_mode = mode::TRANSITION_TO_MC;
-		_vtol_vehicle_status->vtol_in_trans_mode = true;
 		break;
 	}
 }

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -59,7 +59,8 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
 	_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control: cycle"))
 {
-	_vtol_vehicle_status.vtol_in_rw_mode = true;	/* start vtol in rotary wing mode*/
+	// start vtol in rotary wing mode
+	_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
 	parameters_update();
 
@@ -327,13 +328,19 @@ VtolAttitudeControl::Run()
 		// check in which mode we are in and call mode specific functions
 		switch (_vtol_type->get_mode()) {
 		case mode::TRANSITION_TO_FW:
-		case mode::TRANSITION_TO_MC:
-			// vehicle is doing a transition
-			_vtol_vehicle_status.vtol_in_trans_mode = true;
-			_vtol_vehicle_status.vtol_in_rw_mode = true; // making mc attitude controller work during transition
-			_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);
+			// vehicle is doing a transition to FW
+			_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW;
 
-			_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
+			if (!_vtol_type->was_in_trans_mode() || mc_att_sp_updated || fw_att_sp_updated) {
+				_vtol_type->update_transition_state();
+				_v_att_sp_pub.publish(_v_att_sp);
+			}
+
+			break;
+
+		case mode::TRANSITION_TO_MC:
+			// vehicle is doing a transition to MC
+			_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_MC;
 
 			if (!_vtol_type->was_in_trans_mode() || mc_att_sp_updated || fw_att_sp_updated) {
 				_vtol_type->update_transition_state();
@@ -344,20 +351,18 @@ VtolAttitudeControl::Run()
 
 		case mode::ROTARY_WING:
 			// vehicle is in rotary wing mode
-			_vtol_vehicle_status.vtol_in_rw_mode = true;
-			_vtol_vehicle_status.vtol_in_trans_mode = false;
-			_vtol_vehicle_status.in_transition_to_fw = false;
+			_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
-			_vtol_type->update_mc_state();
-			_v_att_sp_pub.publish(_v_att_sp);
+			if (mc_att_sp_updated) {
+				_vtol_type->update_mc_state();
+				_v_att_sp_pub.publish(_v_att_sp);
+			}
 
 			break;
 
 		case mode::FIXED_WING:
 			// vehicle is in fw mode
-			_vtol_vehicle_status.vtol_in_rw_mode = false;
-			_vtol_vehicle_status.vtol_in_trans_mode = false;
-			_vtol_vehicle_status.in_transition_to_fw = false;
+			_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
 
 			if (fw_att_sp_updated) {
 				_vtol_type->update_fw_state();