Changed constant name to UNMANNED_GROUND_VEHICLE

PX4 · Jun 13, 2019 · 21760a5 · 21760a5
1 parent 714c90b
commit 21760a5
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Showing 19 changed files with 39 additions and 32 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover
@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -229,7 +229,7 @@ fi
 
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
 sh etc/init.d/rc.vehicle_setup
 

diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -43,8 +43,8 @@ px4_add_romfs_files(
 	rcS
 	rc.sensors
 	rc.thermal_cal
-	rc.ugv_apps
-	rc.ugv_defaults
+	rc.rover_apps
+	rc.rover_defaults
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -13,7 +13,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -54,10 +54,10 @@ then
 	param set PWM_MIN 1000
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer
-set MIXER ugv_generic
+set MIXER rover_generic
 
 set PWM_MAIN_REV2 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10
@@ -17,7 +17,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 #
 # This section can be enabled once tuning parameters for this particular

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
@@ -15,7 +15,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -56,7 +56,7 @@ then
 	param set PWM_MIN 1000
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer

diff --git a/ROMFS/px4fmu_common/init.d/rc.ugv_apps → ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.ugv_apps → ROMFS/px4fmu_common/init.d/rc.rover_apps
@@ -23,4 +23,4 @@ gnd_pos_control start
 #
 # Start Land Detector.
 #
-land_detector start ugv
+land_detector start rover
diff --git a/ROMFS/px4fmu_common/init.d/rc.ugv_defaults → ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults → ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE ugv
+set VEHICLE_TYPE rover
 
 if [ $AUTOCNF = yes ]
 then

diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -87,12 +87,12 @@ fi
 #
 # UGV setup.
 #
-if [ $VEHICLE_TYPE = ugv ]
+if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
 		# Set default mixer for UGV if not defined.
-		set MIXER ugv_generic
+		set MIXER rover_generic
 	fi
 
 	if [ $MAV_TYPE = none ]
@@ -108,7 +108,7 @@ then
 	sh /etc/init.d/rc.interface
 
 	# Start standard UGV apps.
-	sh /etc/init.d/rc.ugv_apps
+	sh /etc/init.d/rc.rover_apps
 fi
 
 #

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -421,7 +421,7 @@ else
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 	#
 	sh /etc/init.d/rc.vehicle_setup
 

diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -78,7 +78,7 @@ px4_add_romfs_files(
 	stampede.main.mix
 	tri_y_yaw-.main.mix
 	tri_y_yaw+.main.mix
-	ugv_generic.main.mix
+	rover_generic.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix

diff --git a/...px4fmu_common/mixers/ugv_generic.main.mix → ...4fmu_common/mixers/rover_generic.main.mix b/...px4fmu_common/mixers/ugv_generic.main.mix → ...4fmu_common/mixers/rover_generic.main.mix
diff --git a/ROMFS/px4fmu_test/mixers/CMakeLists.txt b/ROMFS/px4fmu_test/mixers/CMakeLists.txt
@@ -44,7 +44,7 @@ px4_add_romfs_files(
 	quad_+.main.mix
 	quad_test.mix
 	quad_+_vtol.main.mix
-	ugv_generic.main.mix
+	rover_generic.main.mix
 	vtol1_test.mix
 	vtol2_test.mix
 	vtol_AAERT.aux.mix

diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
@@ -52,7 +52,7 @@ uint8 RC_IN_MODE_GENERATED = 2
 uint8 VEHICLE_TYPE_UNKNOWN = 0
 uint8 VEHICLE_TYPE_ROTARY_WING = 1
 uint8 VEHICLE_TYPE_FIXED_WING = 2
-uint8 VEHICLE_TYPE_GROUND = 3
+uint8 VEHICLE_TYPE_ROVER = 3
 
 # state machine / state of vehicle.
 # Encodes the complete system state and is set by the commander app.
@@ -67,6 +67,8 @@ 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)
+                            # 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
 
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -1297,7 +1297,7 @@ Commander::run()
 		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 
 	} else if (is_ground_rover(&status)) {
-		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
+		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
 
 	} else {
 		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
@@ -1407,9 +1407,9 @@ Commander::run()
 					status.system_type = (uint8_t)system_type;
 				}
 
-				bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
-				bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
-				bool is_ground = is_ground_rover(&status);
+				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_ground = is_ground_rover(&status);
 
 				/* disable manual override for all systems that rely on electronic stabilization */
 				if (is_rotary) {
@@ -1419,7 +1419,7 @@ Commander::run()
 					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 
 				} else if (is_ground) {
-					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
+					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
 				}
 
 				/* set vehicle_status.is_vtol flag */
@@ -1642,9 +1642,11 @@ Commander::run()
 			if (is_vtol(&status)) {
 
 				// Check if there has been any change while updating the flags
-				bool is_rotary = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+				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;
 
-				if (is_rotary != vtol_status.vtol_in_rw_mode) {
+				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;

diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -507,7 +507,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
 		struct vehicle_status_flags_s current_status_flags = {};
 
 		current_commander_state.main_state = test->from_state;
-		current_vehicle_status.vehicle_type = test->condition_bits & MTT_ROTARY_WING ?
+		current_vehicle_status.vehicle_type = (test->condition_bits & MTT_ROTARY_WING) ?
 						      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING : vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 		current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
 		current_status_flags.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
@@ -691,6 +691,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 					status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
 
 				} else if (status_flags.condition_local_altitude_valid) {
+					//TODO: Add case for rover
 					if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 						status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 

diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp
@@ -76,7 +76,7 @@ int LandDetector::task_spawn(int argc, char *argv[])
 	} else if (strcmp(argv[1], "vtol") == 0) {
 		obj = new VtolLandDetector();
 
-	} else if (strcmp(argv[1], "ugv") == 0) {
+	} else if (strcmp(argv[1], "rover") == 0) {
 		obj = new RoverLandDetector();
 
 	} else {
@@ -165,7 +165,7 @@ The module runs periodically on the HP work queue.
 
 	PRINT_MODULE_USAGE_NAME("land_detector", "system");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
-	PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|ugv", "Select vehicle type", false);
+	PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover", "Select vehicle type", false);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	return 0;
 }

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -335,10 +335,12 @@ MissionBlock::is_mission_item_reached()
 			&& PX4_ISFINITE(_mission_item.yaw))) {
 
 			/* check course if defined only for rotary wing except takeoff */
-			float cog = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
-				    ? _navigator->get_global_position()->yaw : atan2f(
+			float cog = (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) ?
+				    _navigator->get_global_position()->yaw :
+				    atan2f(
 					    _navigator->get_global_position()->vel_e,
-					    _navigator->get_global_position()->vel_n);
+					    _navigator->get_global_position()->vel_n
+				    );
 
 			float yaw_err = wrap_pi(_mission_item.yaw - cog);