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added control modes
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added new concept of control modes which allows to separate different vehicles modes in the compile time.
current control modes are: fixedwing, multicopter, vtol (vtol), rover.
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@BazookaJoe1900
BazookaJoe1900 committed Oct 6, 2019
1 parent 5a8aa04 commit d85fa73
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Showing 16 changed files with 146 additions and 17 deletions.
6 changes: 6 additions & 0 deletions boards/px4/fmu-v5/critmonitor.cmake
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Expand Up @@ -11,6 +11,12 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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6 changes: 6 additions & 0 deletions boards/px4/fmu-v5/default.cmake
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Expand Up @@ -11,6 +11,12 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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3 changes: 3 additions & 0 deletions boards/px4/fmu-v5/fixedwing.cmake
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Expand Up @@ -10,6 +10,9 @@ px4_add_board(
IO px4_io-v2_default
UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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6 changes: 6 additions & 0 deletions boards/px4/fmu-v5/irqmonitor.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,12 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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3 changes: 3 additions & 0 deletions boards/px4/fmu-v5/multicopter.cmake
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Expand Up @@ -11,6 +11,9 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2

CONTROL_MODES
multicopter

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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3 changes: 3 additions & 0 deletions boards/px4/fmu-v5/rover.cmake
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Expand Up @@ -10,6 +10,9 @@ px4_add_board(
IO px4_io-v2_default
UAVCAN_INTERFACES 2

CONTROL_MODES
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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6 changes: 6 additions & 0 deletions boards/px4/fmu-v5/rtps.cmake
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Expand Up @@ -11,6 +11,12 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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6 changes: 6 additions & 0 deletions boards/px4/fmu-v5/stackcheck.cmake
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Expand Up @@ -11,6 +11,12 @@ px4_add_board(
TESTING
#UAVCAN_INTERFACES 2

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
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6 changes: 6 additions & 0 deletions boards/px4/sitl/default.cmake
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Expand Up @@ -6,6 +6,12 @@ px4_add_board(
LABEL default
TESTING

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

DRIVERS
#barometer # all available barometer drivers
#batt_smbus
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6 changes: 6 additions & 0 deletions boards/px4/sitl/rtps.cmake
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Expand Up @@ -6,6 +6,12 @@ px4_add_board(
LABEL rtps
TESTING

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

DRIVERS
#barometer # all available barometer drivers
#batt_smbus
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6 changes: 6 additions & 0 deletions boards/px4/sitl/test.cmake
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Expand Up @@ -6,6 +6,12 @@ px4_add_board(
LABEL test
TESTING

CONTROL_MODES
fixed_wing
vtol
multicopter
rover

DRIVERS
#barometer # all available barometer drivers
#batt_smbus
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5 changes: 5 additions & 0 deletions cmake/px4_add_board.cmake
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Expand Up @@ -146,6 +146,7 @@ function(px4_add_board)
SYSTEMCMDS
EXAMPLES
SERIAL_PORTS
CONTROL_MODES
DF_DRIVERS
OPTIONS
CONSTRAINED_FLASH
Expand Down Expand Up @@ -200,6 +201,10 @@ function(px4_add_board)
set(board_serial_ports ${SERIAL_PORTS} PARENT_SCOPE)
endif()

if(CONTROL_MODES)
set(control_modes ${CONTROL_MODES} PARENT_SCOPE)
endif()

# ROMFS
if(ROMFSROOT)
set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
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29 changes: 29 additions & 0 deletions cmake/px4_add_common_flags.cmake
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Expand Up @@ -191,4 +191,33 @@ function(px4_add_common_flags)
-D__STDC_FORMAT_MACROS
)

list(FIND control_modes "fixed_wing" control_mode_index)
if(${control_mode_index} GREATER -1)
add_definitions(
-DCONTROL_MODES_FW
)
endif()

list(FIND control_modes "multicopter" control_mode_index)
if(${control_mode_index} GREATER -1)
add_definitions(
-DCONTROL_MODES_MC
)
endif()

list(FIND control_modes "vtol" control_mode_index)
if(${control_mode_index} GREATER -1)
add_definitions(
-DCONTROL_MODES_VTOL
)
endif()

list(FIND control_modes "rover" control_mode_index)
if(${control_mode_index} GREATER -1)
add_definitions(
-DCONTROL_MODES_ROVER
)
endif()


endfunction()
28 changes: 24 additions & 4 deletions src/modules/land_detector/CMakeLists.txt
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Expand Up @@ -30,17 +30,37 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

set(CONTROL_MODES_SRCS)
list(FIND control_modes "fixed_wing" control_mode_index)
if(${control_mode_index} GREATER -1)
list(APPEND CONTROL_MODES_SRCS FixedwingLandDetector.cpp)
endif()

list(FIND control_modes "multicopter" control_mode_index)
if(${control_mode_index} GREATER -1)
list(APPEND CONTROL_MODES_SRCS MulticopterLandDetector.cpp)
endif()

list(FIND control_modes "vtol" control_mode_index)
if(${control_mode_index} GREATER -1)
list(APPEND CONTROL_MODES_SRCS VtolLandDetector.cpp)
endif()

list(FIND control_modes "rover" control_mode_index)
if(${control_mode_index} GREATER -1)
list(APPEND CONTROL_MODES_SRCS RoverLandDetector.cpp)
endif()

px4_add_module(
MODULE modules__land_detector
MAIN land_detector
COMPILE_FLAGS
SRCS
land_detector_main.cpp
LandDetector.cpp
MulticopterLandDetector.cpp
FixedwingLandDetector.cpp
VtolLandDetector.cpp
RoverLandDetector.cpp
${CONTROL_MODES_SRCS}

DEPENDS
hysteresis
)
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39 changes: 26 additions & 13 deletions src/modules/land_detector/land_detector_main.cpp
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Expand Up @@ -67,22 +67,35 @@ int LandDetector::task_spawn(int argc, char *argv[])

LandDetector *obj = nullptr;

#ifdef CONTROL_MODE_FW

if (strcmp(argv[1], "fixedwing") == 0) {
obj = new FixedwingLandDetector();

} else if (strcmp(argv[1], "multicopter") == 0) {
obj = new MulticopterLandDetector();

} else if (strcmp(argv[1], "vtol") == 0) {
obj = new VtolLandDetector();

} else if (strcmp(argv[1], "rover") == 0) {
obj = new RoverLandDetector();

} else {
print_usage("unknown mode");
return PX4_ERROR;
}
} else
#endif
#ifdef CONTROL_MODE_MC
if (strcmp(argv[1], "multicopter") == 0) {
obj = new MulticopterLandDetector();

} else
#endif
#ifdef CONTROL_MODE_VT
if (strcmp(argv[1], "vtol") == 0) {
obj = new VtolLandDetector();

} else
#endif
#ifdef CONTROL_MODE_ROVER
if (strcmp(argv[1], "rover") == 0) {
obj = new RoverLandDetector();

} else
#endif
{
print_usage("unknown mode");
return PX4_ERROR;
}

if (obj == nullptr) {
PX4_ERR("alloc failed");
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5 changes: 5 additions & 0 deletions src/modules/mc_att_control/mc_att_control_main.cpp
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Expand Up @@ -159,12 +159,17 @@ MulticopterAttitudeControl::vehicle_status_poll()
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
_attitude_sp_id = ORB_ID(mc_virtual_attitude_setpoint);

#ifdef CONTROL_MODE_VTOL
int32_t vt_type = -1;

if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}

#else
_is_tailsitter = false;
#endif

} else {
_actuators_id = ORB_ID(actuator_controls_0);
_attitude_sp_id = ORB_ID(vehicle_attitude_setpoint);
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