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mavlink: warning for actuator offboard & lockstep

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Currently actuator offboard control interferes with SITL lockstep.
Therefore, the least we can do is to warn a user and inform them how to
workaround the issue.
This commit is contained in:
Julian Oes 2019-11-06 17:15:29 +01:00 committed by Daniel Agar
parent 02271a471d
commit 60343cc168
1 changed files with 6 additions and 0 deletions
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6
src/modules/mavlink/mavlink_receiver.cpp
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@ -1102,6 +1102,12 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
set_actuator_control_target.target_component == 0) &&
values_finite) {
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled");
PX4_ERR("Please disable lockstep for actuator offboard control:");
PX4_ERR("https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation");
return;
#endif
/* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */
bool ignore_setpoints = bool(set_actuator_control_target.group_mlx != 2);