fly316/PX4-Autopilot
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vtol fixes:

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- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
This commit is contained in:
tumbili
2015-08-12 20:33:17 +02:00
parent c448f955e0
commit 04f55ce784
5 changed files with 16 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -1459,7 +1459,7 @@ MulticopterPositionControl::task_main()
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub != nullptr && _vehicle_status.is_rotary_wing) {
if (_att_sp_pub != nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else if (_att_sp_pub == nullptr && _vehicle_status.is_rotary_wing){
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);