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Offboard control (#5816)

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* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work.  The line of code changed here causes failsafe RTL to kick in without this fix.

* Add altitude hold option using Z position control, while doing velocity control on vx and vy.

* Fix style and rebase issues
This commit is contained in:
Lorenz Meier
2016-11-07 12:09:41 +01:00
committed by GitHub
parent 9180268a17
commit 7be71459f5
4 changed files with 21 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+11
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@@ -391,6 +391,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
@@ -749,6 +750,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
/* convert mavlink type (local, NED) to uORB offboard control struct */
offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_local_ned.type_mask & 0x4);
offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
@@ -846,6 +848,14 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.current.velocity_valid = false;
}
if (!offboard_control_mode.ignore_alt_hold) {
pos_sp_triplet.current.alt_valid = true;
pos_sp_triplet.current.z = set_position_target_local_ned.z;
} else {
pos_sp_triplet.current.alt_valid = false;
}
/* set the local acceleration values if the setpoint type is 'local pos' and none
* of the accelerations fields is set to 'ignore' */
if (!offboard_control_mode.ignore_acceleration_force) {
@@ -1242,6 +1252,7 @@ MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg)
mavlink_msg_logging_ack_decode(msg, &logging_ack);
MavlinkULog *ulog_streaming = _mavlink->get_ulog_streaming();
if (ulog_streaming) {
ulog_streaming->handle_ack(logging_ack);
}