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Code Issues Releases Activity

REVONANO Land and Takeoff uav changes removing abort state.

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This commit is contained in:
abeck70 2015-05-25 22:25:07 +10:00
parent cdf1b88cc0
commit bddb9377a4
3 changed files with 8 additions and 5 deletions
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9
flight/modules/PathFollower/vtollandcontroller.cpp
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@ -30,6 +30,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -266,9 +267,11 @@ void VtolLandController::UpdateAutoPilot()
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);

2
shared/uavobjectdefinition/statusvtolautotakeoff.xml
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@ -1,7 +1,7 @@
<xml>
<object name="StatusVtolAutoTakeoff" singleinstance="true" settings="false" category="Navigation">
<description>Status of a AutoTakeoff autopilot</description>
<field name="State" units="" type="enum" elements="1" options="Inactive,CheckState,SlowStart,ThrustUp,Takeoff,Hold,ThrustDown,ThrustOff,Disarmed, Abort" default="0"/>
<field name="State" units="" type="enum" elements="1" options="Inactive,CheckState,SlowStart,ThrustUp,Takeoff,Hold,ThrustDown,ThrustOff,Disarmed" default="0"/>
<field name="AltitudeAtState" units="m" type="float" elements="10" default="0"/>
<field name="StateExitReason" units="" type="enum" elements="10" options="None,ArrivedAtAlt,ZeroThrust,PositionError,Timeout" default="0"/>
<field name="AltitudeState" units="" type="enum" elements="1" options="High,Low" default="0"/>

2
shared/uavobjectdefinition/statusvtolland.xml
View File

@ -2,7 +2,7 @@
<object name="StatusVtolLand" singleinstance="true" settings="false" category="Navigation">
<description>Status of a Vtol landing sequence</description>
<field name="State" units="" type="enum" elements="1" options="Inactive,InitAltHold,WtgForDescentRate,AtDescentRate,WtgForGroundEffect,
GroundEffect,ThrustDown,ThrustOff,Disarmed, Abort" default="0"/>
GroundEffect,ThrustDown,ThrustOff,Disarmed" default="0"/>
<field name="AltitudeAtState" units="m" type="float" elements="10" default="0"/>
<field name="StateExitReason" units="" type="enum" elements="10" options="None,DescentRateOk,OnGround,BounceVelocity,BounceAccel,LowDescentRate,ZeroThrust,PositionError,Timeout" default="0"/>
<field name="targetDescentRate" units="m" type="float" elements="1"/>