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Check system type for SET_ATTITUDE_TARGET attitude publising

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Check if system type is VTOL and publish attitude to proper uORB topic
This commit is contained in:
Ildar Sadykov
2019-10-26 18:29:16 +01:00
committed by Nuno Marques
parent 8bf60662fa
commit 35b0778499
2 changed files with 23 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+20 -1
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@@ -85,6 +85,20 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_parameters_manager(parent),
_mavlink_timesync(parent)
{
unsigned int system_type = _mavlink->get_system_type();
if (system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_TILTROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2 ||
system_type == MAV_TYPE_VTOL_RESERVED3 ||
system_type == MAV_TYPE_VTOL_RESERVED4 ||
system_type == MAV_TYPE_VTOL_RESERVED5) {
_is_vtol = true;
} else {
_is_vtol = false;
}
}
void
@@ -1411,7 +1425,12 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
}
_att_sp_pub.publish(att_sp);
if (!_is_vtol) {
_att_sp_pub.publish(att_sp);
} else {
_mc_virtual_att_sp_pub.publish(att_sp);
}
}
/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */