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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
2019-10-26 18:29:16 +01:00
committed by Nuno Marques
parent d2f0100e5e
commit 65ed068bbd
2 changed files with 19 additions and 9 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+17 -6
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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;