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mavlink_receiver: vtol_vehicle_status changed to vehicle_status subscription

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This commit is contained in:
Ildar Sadykov 2019-10-09 18:00:09 +03:00 committed by Nuno Marques
parent d2f0100e5e
commit 65ed068bbd
2 changed files with 19 additions and 9 deletions
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23
src/modules/mavlink/mavlink_receiver.cpp
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@ -1423,17 +1423,28 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
case MAV_TYPE_VTOL_RESERVED3:
case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5:
if (_vtol_vehicle_status_sub.updated()) {
_vtol_vehicle_status_sub.copy(&_vtol_vehicle_status);
if (_vehicle_status_sub.updated()) {
_vehicle_status_sub.copy(&_vehicle_status);
}
if (_vtol_vehicle_status.vtol_in_rw_mode) {
switch (_vehicle_status.vehicle_type) {
case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
att_sp.thrust_body[0] = set_attitude_target.thrust;
_fw_virtual_att_sp_pub.publish(att_sp);
break;
case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
att_sp.thrust_body[2] = -set_attitude_target.thrust;
_mc_virtual_att_sp_pub.publish(att_sp);
} else {
att_sp.thrust_body[0] = set_attitude_target.thrust;
_fw_virtual_att_sp_pub.publish(att_sp);
break;
default:
// This should never happen
break;
}
break;

5
src/modules/mavlink/mavlink_receiver.h
View File

@ -97,7 +97,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
class Mavlink;
@ -265,7 +264,7 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
static constexpr unsigned int MOM_SWITCH_COUNT{8};
uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
@ -279,7 +278,7 @@ private:
hrt_abstime _last_utm_global_pos_com{0};
vtol_vehicle_status_s _vtol_vehicle_status{};
vehicle_status_s _vehicle_status{};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,