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vtol_att_control fix WQ scheduling #12838

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merged 3 commits into from
Sep 2, 2019
Merged

vtol_att_control fix WQ scheduling #12838

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8b9b00a
vtol_att_control fix WQ scheduling
dagar Aug 29, 2019
67674d0
Merge branch 'master' into pr-vtol_scheduling_fix
dagar Sep 2, 2019
1b59cc3
Merge branch 'master' into pr-vtol_scheduling_fix
dagar Sep 2, 2019
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89 changes: 47 additions & 42 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -374,67 +374,72 @@ VtolAttitudeControl::Run()
}

// check in which mode we are in and call mode specific functions
if (_vtol_type->get_mode() == mode::ROTARY_WING) {
switch (_vtol_type->get_mode()) {
case mode::TRANSITION_TO_FW:
case mode::TRANSITION_TO_MC:
// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
_vtol_vehicle_status.vtol_in_rw_mode = true; // making mc attitude controller work during transition
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);

_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);

if (_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp)) {

_mc_virtual_att_sp_sub.update(&_mc_virtual_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(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

_vtol_type->update_transition_state();
_v_att_sp_pub.publish(_v_att_sp);
}

break;

case mode::ROTARY_WING:
// vehicle is in rotary wing mode
_vtol_vehicle_status.vtol_in_rw_mode = true;
_vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false;

// got data from mc attitude controller
_vtol_type->update_mc_state();

} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
if (_mc_virtual_att_sp_sub.update(&_mc_virtual_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(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

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

_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
break;

case mode::FIXED_WING:
// vehicle is in fw mode
_vtol_vehicle_status.vtol_in_rw_mode = false;
_vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false;

_vtol_type->update_fw_state();

} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC || _vtol_type->get_mode() == mode::TRANSITION_TO_FW) {

_mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp);
_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);

// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
_vtol_vehicle_status.vtol_in_rw_mode = true; //making mc attitude controller work during transition
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);
if (_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp)) {
_vtol_type->update_fw_state();
_v_att_sp_pub.publish(_v_att_sp);
}

_vtol_type->update_transition_state();
break;
}

_vtol_type->fill_actuator_outputs();

// 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(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

/* Only publish if the proper mode(s) are enabled */
if (_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled) {

_v_att_sp_pub.publish(_v_att_sp);

if (updated_mc_in) {
_actuators_0_pub.publish(_actuators_out_0);
}

if (updated_fw_in) {
_actuators_1_pub.publish(_actuators_out_1);
}
}
_actuators_0_pub.publish(_actuators_out_0);
_actuators_1_pub.publish(_actuators_out_1);

// Advertise/Publish vtol vehicle status
_vtol_vehicle_status.timestamp = hrt_absolute_time();
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2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/vtol_att_control_main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -132,7 +132,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::
struct Params *get_params() {return &_params;}

private:
/* handlers for subscriptions */

uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};

Expand Down