Adapted acceptance radius for rovers, and added vehicle_type field #11918
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AmeliaEScott
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julianoes
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Apr 26, 2019
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Overall this looks good, we just need to be careful with the usage surrounding VTOL where various modules depend on |
bkueng
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Apr 29, 2019
julianoes
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May 2, 2019
src/modules/commander/commander_tests/state_machine_helper_test.cpp
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AmeliaEScott
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AmeliaEScott
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This was referenced Jun 11, 2019
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June 11, 2019 12:42
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I have rebased this PR so it is ready to merge, if @dagar or @julianoes would like to review it again. |
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@dagar any objections? |
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Test data / coverage
I tested these changes in SITL, by running a mission from start to finish on the following targets:
gazebo_standard_vtolgazebo_tiltrotorgazebo_planegazebo_tailsittergazebo_irisgazebo_roverDescribe problem solved by the proposed pull request
Many modules used
!vehicle_status.is_rotary_wingto determine if a vehicle is fixed wing. This led to assuming that other vehicle types, like rovers, are fixed-wing.Describe your preferred solution
The
vehicle_statusmessage was changed to remove theis_rotary_wingflag and replace it with an enum,vehicle_type, which can take the valuesFIXED_WING,ROTARY_WING, orGROUNDDescribe possible alternatives
I considered using the existing
system_typefield invehicle_status, but this enum is too complex. There are many different types of rotary wing aircraft, for example. This field also does not consider the state of a VTOL; that is, whether it is in fixed-wing or rotary-wing mode.Additional context
This is a continuation from the work done in #7175