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Now setting flag_external_manual_override_ok to false when in offboard mode,so that fmu has control over outputs.

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Added handling of OFFBOARD_CONTROL_MODE_DIRECT_RATES.
This commit is contained in:
Diogo Machado
2014-02-26 14:31:23 +00:00
parent 52b29cae39
commit 0656aae3cb
2 changed files with 28 additions and 1 deletions
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src/modules/commander/commander.cpp
+10 -1
View File
@@ -1728,8 +1728,17 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
src/modules/mavlink/mavlink_receiver.cpp
+18
View File
@@ -98,6 +98,7 @@ static struct vehicle_vicon_position_s vicon_position;
static struct vehicle_command_s vcmd;
static struct offboard_control_setpoint_s offboard_control_sp;
static struct vehicle_attitude_setpoint_s att_sp;
static struct vehicle_rates_setpoint_s rates_sp;
static struct vehicle_control_mode_s _v_control_mode;
struct vehicle_global_position_s hil_global_pos;
@@ -130,6 +131,7 @@ static orb_advert_t flow_pub = -1;
static orb_advert_t offboard_control_sp_pub = -1;
static orb_advert_t att_sp_pub = -1;
static orb_advert_t rates_sp_pub = -1;
static orb_advert_t vicon_position_pub = -1;
static orb_advert_t telemetry_status_pub = -1;
@@ -343,6 +345,22 @@ handle_message(mavlink_message_t *msg)
// if (v_status.main_state == MAIN_STATE_OFFBOARD) {
/* in offboard mode also publish setpoint directly */
switch (offboard_control_sp.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
rates_sp.timestamp = hrt_absolute_time();
rates_sp.roll = offboard_control_sp.p1;
rates_sp.pitch = offboard_control_sp.p2;
rates_sp.yaw = offboard_control_sp.p3;
rates_sp.thrust = offboard_control_sp.p4;
/* check if topic has to be advertised */
if(rates_sp_pub <= 0) {
rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
} else {
/* publish */
orb_publish(ORB_ID(vehicle_rates_setpoint), &rates_sp);
}
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = offboard_control_sp.p1;