Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Position publish disarmed attitude #13210

Merged
merged 3 commits into from
Nov 24, 2019
Merged

Position publish disarmed attitude #13210

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
9505e44
mc_pos_control: start flight task already when disarmed
MaEtUgR Oct 16, 2019
af5e8e5
att_control: remove resetting the attitude setpoint
MaEtUgR Oct 16, 2019
befee15
Merge branch 'master' into position-publish-disarmed-attitude
MaEtUgR Nov 24, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 0 additions & 7 deletions src/modules/mc_att_control/mc_att_control_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -247,13 +247,6 @@ void
MulticopterAttitudeControl::control_attitude()
{
_v_att_sp_sub.update(&_v_att_sp);

// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

_rates_sp = _attitude_control.update(Quatf(_v_att.q), Quatf(_v_att_sp.q_d), _v_att_sp.yaw_sp_move_rate);
}

Expand Down
19 changes: 6 additions & 13 deletions src/modules/mc_pos_control/mc_pos_control_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -568,15 +568,8 @@ MulticopterPositionControl::Run()
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f,
!_control_mode.flag_control_climb_rate_enabled, time_stamp_now);

// takeoff delay for motors to reach idle speed
if (_takeoff.getTakeoffState() >= TakeoffState::ready_for_takeoff) {
// when vehicle is ready switch to the required flighttask
start_flight_task();

} else {
// stop flighttask while disarmed
_flight_tasks.switchTask(FlightTaskIndex::None);
}
// switch to the required flighttask
start_flight_task();

// check if any task is active
if (_flight_tasks.isAnyTaskActive()) {
Expand Down Expand Up @@ -705,10 +698,10 @@ MulticopterPositionControl::Run()
}

// publish attitude setpoint
// Note: this requires review. The reason for not sending
// an attitude setpoint is because for non-flighttask modes
// the attitude septoint should come from another source, otherwise
// they might conflict with each other such as in offboard attitude control.
// It's important to publish also when disarmed otheriwse the attitude setpoint stays uninitialized.
// Not publishing when not running a flight task
// in stabilized mode attitude setpoints get ignored
// in offboard with attitude setpoints they come from MAVLink directly
if (_attitude_setpoint_id != nullptr) {
orb_publish_auto(_attitude_setpoint_id, &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);
}
Expand Down
15 changes: 0 additions & 15 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -389,13 +389,6 @@ VtolAttitudeControl::Run()
_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);

if (mc_att_sp_updated || fw_att_sp_updated) {

// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

_vtol_type->update_transition_state();
_v_att_sp_pub.publish(_v_att_sp);
}
Expand All @@ -408,14 +401,6 @@ VtolAttitudeControl::Run()
_vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false;

if (mc_att_sp_updated) {
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
}

_vtol_type->update_mc_state();
_v_att_sp_pub.publish(_v_att_sp);

Expand Down