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Last corrections of PWM mission control

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This commit is contained in:
fpvaspassion
2015-08-18 23:17:08 +02:00
committed by Lorenz Meier
parent 158c260c43
commit 477625a53c
2 changed files with 9 additions and 9 deletions
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src/modules/mavlink/mavlink_mission.cpp
-1
View File
@@ -69,7 +69,6 @@ bool MavlinkMissionManager::_transfer_in_progress = false;
(_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \
(_msg.target_component == MAV_COMP_ID_ALL)))
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_state(MAVLINK_WPM_STATE_IDLE),
_time_last_recv(0),
src/modules/navigator/mission_block.cpp
+9 -8
View File
@@ -50,10 +50,14 @@
#include <mavlink/mavlink_log.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include "navigator.h"
#include "mission_block.h"
actuator_controls_s actuators;
orb_advert_t actuator_pub_fd;
MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
@@ -74,14 +78,11 @@ bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
/* Request for new PWM value for selected channel */
_actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
_actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators);
/* Warn about action */
warnx("Set servo cmd executed");
actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), actuator_pub_fd, &actuators);
return true;
}