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mavlink external sp: support for local pos and vel

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This commit is contained in:
Thomas Gubler
2014-07-23 11:37:27 +02:00
parent 825b84fa3b
commit 7bc0e26734
2 changed files with 45 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+44 -2
View File
@@ -37,6 +37,7 @@
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/* XXX trim includes */
@@ -103,11 +104,11 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_cmd_pub(-1),
_flow_pub(-1),
_offboard_control_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_force_sp_pub(-1),
_pos_sp_triplet_pub(-1),
_vicon_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
@@ -487,8 +488,49 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
}
} else {
/* It's not a force setpoint: publish to setpoint triplet topic */
struct position_setpoint_triplet_s pos_sp_triplet;
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
/* set the local pos values if the setpoint type is 'local pos' and none
* of the local pos fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_position(offboard_control_sp, 0) &&
!offboard_control_sp_ignore_position(offboard_control_sp, 1) &&
!offboard_control_sp_ignore_position(offboard_control_sp, 2)) {
pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = offboard_control_sp.position[0];
pos_sp_triplet.current.y = offboard_control_sp.position[1];
pos_sp_triplet.current.z = offboard_control_sp.position[2];
}
/* set the local vel values if the setpoint type is 'local pos' and none
* of the local vel fields is set to 'ignore' */
if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
!offboard_control_sp_ignore_velocity(offboard_control_sp, 0) &&
!offboard_control_sp_ignore_velocity(offboard_control_sp, 1) &&
!offboard_control_sp_ignore_velocity(offboard_control_sp, 2)) {
pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
pos_sp_triplet.current.velocity_valid = true;
pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
pos_sp_triplet.current.vz = offboard_control_sp.velocity[2];
}
//XXX handle global pos setpoints (different MAV frames)
if (_pos_sp_triplet_pub < 0) {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
&pos_sp_triplet);
} else {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
&pos_sp_triplet);
}
//XXX: copy to and publish setpoint triplet here
}
}
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -143,11 +143,11 @@ private:
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _local_pos_sp_pub;
orb_advert_t _global_vel_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _force_sp_pub;
orb_advert_t _pos_sp_triplet_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;