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Code Issues Releases Activity

Made AltitudeOffset for ReturnToHome configurable, Made Failsafe-FlightMode configurable.

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This commit is contained in:
Corvus Corax 2013-07-15 09:14:09 +02:00
parent 4d28052dd8
commit 8b6510da4f
2 changed files with 12 additions and 6 deletions
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15
flight/modules/ManualControl/manualcontrol.c
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@ -323,9 +323,12 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
cmd.Yaw = 0;
cmd.Pitch = 0;
cmd.Collective = 0;
// cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
if (settings.FailsafeBehavior != MANUALCONTROLSETTINGS_FAILSAFEBEHAVIOR_NONE) {
FlightStatusGet(&flightStatus);
flightStatus.FlightMode = settings.FlightModePosition[settings.FailsafeBehavior - 1];
FlightStatusSet(&flightStatus);
}
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AccessoryDesiredData accessory;
@ -724,15 +727,17 @@ static void updatePathDesired(__attribute__((unused)) ManualControlCommandData *
// Simple Return To Base mode - keep altitude the same, fly to home position
PositionStateData positionState;
PositionStateGet(&positionState);
ManualControlSettingsData settings;
ManualControlSettingsGet(&settings);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
pathDesired.Start[PATHDESIRED_START_NORTH] = 0;
pathDesired.Start[PATHDESIRED_START_EAST] = 0;
pathDesired.Start[PATHDESIRED_START_DOWN] = positionState.Down - 10;
pathDesired.Start[PATHDESIRED_START_DOWN] = positionState.Down - settings.ReturnToHomeAltitudeOffset;
pathDesired.End[PATHDESIRED_END_NORTH] = 0;
pathDesired.End[PATHDESIRED_END_EAST] = 0;
pathDesired.End[PATHDESIRED_END_DOWN] = positionState.Down - 10;
pathDesired.End[PATHDESIRED_END_DOWN] = positionState.Down - settings.ReturnToHomeAltitudeOffset;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;

3
shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -71,7 +71,8 @@
%0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>
<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None,ModePos1,ModePos2,ModePos3,ModePos4,ModePos5,ModePos6" defaultvalue="None"/>
<field name="ReturnToHomeAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>