FW pos C: fix altitude control for VTOL/FW by also publishing attitud… #12920
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…e sp if in altitude, not only if position or velocity controlled Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
bresch
approved these changes
Sep 8, 2019
RomanBapst
reviewed
Sep 10, 2019
| @@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run() | |||
| if (_control_mode.flag_control_offboard_enabled || | |||
| _control_mode.flag_control_position_enabled || | |||
| _control_mode.flag_control_velocity_enabled || | |||
| _control_mode.flag_control_acceleration_enabled) { | |||
| _control_mode.flag_control_acceleration_enabled || | |||
| _control_mode.flag_control_altitude_enabled) { | |||
There was a problem hiding this comment.
@sfuhrer Nitpick, but maybe you can use flag_control_climb_rate_enabled. I think that's how it's used in other locations and in theory could run TECS in climb rate mode. What do you think? Otherwise good to go.
There was a problem hiding this comment.
I don't think it matters right now, but we should do a pass to make sure these are handled consistently and to even know where the holes are in offboard.
dagar
approved these changes
Sep 10, 2019
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes #12910.
The VTOL altitude control in FW mode was broken with #12532. Before the attitude sp was always published if not on offboard control or in position/velocity control. This PR adds Altitude control support there (thus not relying on the "not offboard" flag as before.
Probably also applies for FW flown in ALT control.