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Code Issues Releases Activity

Prevent an alarm from ManualControlCommand when using autotuning mode.

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This commit is contained in:
James Cotton 2012-08-02 04:31:17 -05:00
parent 50c7641162
commit fc2f8376bc
2 changed files with 7 additions and 2 deletions
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5
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -32,7 +32,7 @@
#include "manualcontrolcommand.h" #include "manualcontrolcommand.h"
typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3} flightmode_path; typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3, FLIGHTMODE_TUNING = 4} flightmode_path;
#define PARSE_FLIGHT_MODE(x) ( \ #define PARSE_FLIGHT_MODE(x) ( \
(x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \ (x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
@ -41,7 +41,8 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \ (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \ (x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \ (x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \ (x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) ? FLIGHTMODE_TUNING : FLIGHTMODE_UNDEFINED \
) )
int32_t ManualControlInitialize(); int32_t ManualControlInitialize();

4
flight/Modules/ManualControl/manualcontrol.c
View File

@ -388,6 +388,10 @@ static void manualControlTask(void *parameters)
case FLIGHTMODE_STABILIZED: case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings); updateStabilizationDesired(&cmd, &settings);
break; break;
case FLIGHTMODE_TUNING:
// Tuning takes settings directly from manualcontrolcommand. No need to
// call anything else. This just avoids errors.
break;
case FLIGHTMODE_GUIDANCE: case FLIGHTMODE_GUIDANCE:
switch(flightStatus.FlightMode) { switch(flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: