Merge remote-tracking branch 'upstream/isvtol' into dev_ros

Conflicts:
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h

msg/vehicle_status.msg

@@ -94,7 +94,8 @@ int32 system_type			# system type, inspired by MAVLink's VEHICLE_TYPE enum
 int32 system_id				# system id, inspired by MAVLink's system ID field
 int32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
 
-bool is_rotary_wing
+bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
+bool is_vtol				# True if the system is VTOL capable
 
 bool condition_battery_voltage_valid
 bool condition_system_in_air_restore		# true if we can restore in mid air

src/modules/commander/commander.cpp

@@ -1098,6 +1098,10 @@ int commander_thread_main(int argc, char *argv[])
 					status.is_rotary_wing = false;
 				}
 
+				/* set vehicle_status.is_vtol flag */
+				status.is_vtol =  (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
+				    (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
+
 				/* check and update system / component ID */
 				param_get(_param_system_id, &(status.system_id));
 				param_get(_param_component_id, &(status.component_id));
@@ -1119,6 +1123,8 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* navigation parameters */
 			param_get(_param_takeoff_alt, &takeoff_alt);
+
+			/* Safety parameters */
 			param_get(_param_enable_parachute, &parachute_enabled);
 			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
@@ -1127,6 +1133,8 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_ef_throttle_thres, &ef_throttle_thres);
 			param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
 			param_get(_param_ef_time_thres, &ef_time_thres);
+
+			/* Autostart id */
 			param_get(_param_autostart_id, &autostart_id);
 		}
 
@@ -2230,14 +2238,7 @@ set_control_mode()
 {
 	/* set vehicle_control_mode according to set_navigation_state */
 	control_mode.flag_armed = armed.armed;
-	/* TODO: check this */
-	if (autostart_id < 13000 || autostart_id >= 14000) {
-		control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
-
-	} else {
-		control_mode.flag_external_manual_override_ok = false;
-	}
-
+	control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
 	control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
 	control_mode.flag_control_offboard_enabled = false;
 

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -195,8 +195,6 @@ private:
 		float man_roll_max;						/**< Max Roll in rad */
 		float man_pitch_max;					/**< Max Pitch in rad */
 
-		param_t autostart_id;			/* indicates which airframe is used */
-
 	}		_parameters;			/**< local copies of interesting parameters */
 
 	struct {
@@ -237,7 +235,6 @@ private:
 		param_t man_roll_max;
 		param_t man_pitch_max;
 
-		param_t autostart_id;		/* indicates which airframe is used */
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -339,6 +336,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators_0_pub(-1),
 	_actuators_2_pub(-1),
 
+	_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
+	_actuators_id(ORB_ID(actuator_controls_0)),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
 	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
@@ -397,19 +397,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
 	_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
 
-	_parameter_handles.autostart_id 	= param_find("SYS_AUTOSTART");
-
 	/* fetch initial parameter values */
 	parameters_update();
-	// set correct uORB ID, depending on if vehicle is VTOL or not
-	if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
-		_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
-		_actuators_id = ORB_ID(actuator_controls_virtual_fw);
-	}
-	else {
-		_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
-		_actuators_id = ORB_ID(actuator_controls_0);
-	}
 }
 
 FixedwingAttitudeControl::~FixedwingAttitudeControl()
@@ -484,8 +473,6 @@ FixedwingAttitudeControl::parameters_update()
 	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
 	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
 
-	param_get(_parameter_handles.autostart_id, &_parameters.autostart_id);
-
 	/* pitch control parameters */
 	_pitch_ctrl.set_time_constant(_parameters.tconst);
 	_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -601,6 +588,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
 
 	if (vehicle_status_updated) {
 		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+		/* set correct uORB ID, depending on if vehicle is VTOL or not */
+		if (_vehicle_status.is_vtol) {
+			_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
+			_actuators_id = ORB_ID(actuator_controls_virtual_fw);
+		} else {
+			_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
+			_actuators_id = ORB_ID(actuator_controls_0);
+		}
 	}
 }
 
@@ -701,11 +696,11 @@ FixedwingAttitudeControl::task_main()
 			/* load local copies */
 			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
 
-			if (_parameters.autostart_id >= 13000
-			    && _parameters.autostart_id <= 13999) {	//vehicle type is VTOL, need to modify attitude!
-				/* The following modification to the attitude is vehicle specific and in this case applies
-				   to tail-sitter models !!!
-
+			if (_vehicle_status.is_vtol) {
+				/* vehicle type is VTOL, need to modify attitude!
+				 * The following modification to the attitude is vehicle specific and in this case applies
+				 *  to tail-sitter models !!!
+				 *
 				 * Since the VTOL airframe is initialized as a multicopter we need to
 				 * modify the estimated attitude for the fixed wing operation.
 				 * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around

src/modules/mc_att_control/mc_att_control.cpp

@@ -97,17 +97,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params_handles.acro_roll_max		= 	PX4_PARAM_INIT(MC_ACRO_R_MAX);
 	_params_handles.acro_pitch_max		= 	PX4_PARAM_INIT(MC_ACRO_P_MAX);
 	_params_handles.acro_yaw_max		= 	PX4_PARAM_INIT(MC_ACRO_Y_MAX);
-	_params_handles.autostart_id		= 	PX4_PARAM_INIT(SYS_AUTOSTART);
-
-	/* fetch initial parameter values */
-	parameters_update();
-	/* set correct uORB ID, depending on if vehicle is VTOL or not */
-	if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/
-		_is_vtol = true;
-	}
-	else {
-		_is_vtol = false;
-	}
 
 	/*
 	 * do subscriptions
@@ -235,7 +224,7 @@ void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
 		if (_v_rates_sp_pub != nullptr) {
 			_v_rates_sp_pub->publish(_v_rates_sp_mod);
 		} else {
-			if (_is_vtol) {
+			if (_v_status->get()._is_vtol) {
 				_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
 			} else {
 				_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
@@ -264,7 +253,7 @@ void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
 				_v_rates_sp_pub->publish(_v_rates_sp_mod);
 
 			} else {
-				if (_is_vtol) {
+				if (_v_status->get()._is_vtol) {
 					_v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint);
 				} else {
 					_v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint);
@@ -295,7 +284,7 @@ void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
 				_actuators_0_pub->publish(_actuators);
 
 			} else {
-				if (_is_vtol) {
+				if (_v_status()->get()._is_vtol) {
 					_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_virtual_mc);
 				} else {
 					_actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_0);

src/modules/mc_att_control/mc_att_control.h

@@ -93,8 +93,6 @@ private:
 	px4::Publisher *	_v_rates_sp_pub;		/**< rate setpoint publication */
 	px4::Publisher *	_actuators_0_pub;		/**< attitude actuator controls publication */
 
-	bool _is_vtol;						/**< true if vehicle is vtol, to be replaced with global API */
-
 	px4::NodeHandle _n;
 
 	struct {