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Navigator: VTOL: enable weather vane in auto mode outside of mission #13761

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merged 5 commits into from
Dec 28, 2019
Merged

Navigator: VTOL: enable weather vane in auto mode outside of mission #13761

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3d702d3
Navigator: make weather vane work in all auto modes, not just mission
sfuhrer Dec 18, 2019
8714b38
Merge branch 'master' into pr-enable_weather_vane_in_auto
LorenzMeier Dec 23, 2019
a052256
Merge branch 'master' into pr-enable_weather_vane_in_auto
dagar Dec 24, 2019
72efff4
Merge branch 'master' into pr-enable_weather_vane_in_auto
dagar Dec 27, 2019
3f87f99
Merge branch 'master' into pr-enable_weather_vane_in_auto
dagar Dec 28, 2019
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2 changes: 1 addition & 1 deletion msg/position_setpoint.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -55,4 +55,4 @@ float32 acceptance_radius # navigation acceptance_radius if we're doing waypoi
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)

bool allow_weather_vane # VTOL: allow (in mission mode) the weather vane feature that turns the nose into the wind
bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
2 changes: 1 addition & 1 deletion src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
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Expand Up @@ -238,7 +238,7 @@ bool FlightTaskAuto::_evaluateTriplets()

if (_ext_yaw_handler != nullptr) {
// activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane)
(_param_wv_en.get() && _sub_triplet_setpoint.get().current.allow_weather_vane) ? _ext_yaw_handler->activate() :
(_param_wv_en.get() && !_sub_triplet_setpoint.get().current.disable_weather_vane) ? _ext_yaw_handler->activate() :
_ext_yaw_handler->deactivate();
}

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10 changes: 5 additions & 5 deletions src/modules/navigator/mission.cpp
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Expand Up @@ -688,9 +688,6 @@ Mission::set_mission_items()

position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

// allow weather vane in mission
pos_sp_triplet->current.allow_weather_vane = true;

/* do takeoff before going to setpoint if needed and not already in takeoff */
/* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
if (do_need_vertical_takeoff() &&
Expand Down Expand Up @@ -773,7 +770,7 @@ Mission::set_mission_items()
!_navigator->get_land_detected()->landed) {

/* disable weathervane before front transition for allowing yaw to align */
pos_sp_triplet->current.allow_weather_vane = false;
pos_sp_triplet->current.disable_weather_vane = true;

/* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */
_mission_item.yaw = get_bearing_to_next_waypoint(
Expand All @@ -795,6 +792,9 @@ Mission::set_mission_items()
_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_navigator->get_land_detected()->landed) {

/* re-enable weather vane again after alignment */
pos_sp_triplet->current.disable_weather_vane = false;

/* check if the vtol_takeoff waypoint is on top of us */
if (do_need_move_to_takeoff()) {
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
Expand Down Expand Up @@ -976,7 +976,7 @@ Mission::set_mission_items()
&& has_next_position_item) {

/* disable weathervane before front transition for allowing yaw to align */
pos_sp_triplet->current.allow_weather_vane = false;
pos_sp_triplet->current.disable_weather_vane = true;

new_work_item_type = WORK_ITEM_TYPE_ALIGN;

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