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Added support for velocity setpoint in mavlink_receiver and mc_pos_control

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This commit is contained in:
t0ni0
2014-06-13 20:38:43 -04:00
parent ca6463efd8
commit 7d05f2df7c
3 changed files with 64 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+35 -1
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@@ -103,6 +103,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_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),
_vicon_position_pub(-1),
@@ -450,6 +451,11 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
_rates_sp_pub = -1;
}
if (_global_vel_sp_pub > 0) {
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}
if (_local_pos_sp_pub < 0) {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp_pub);
@@ -458,7 +464,30 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
}
} else if (_control_mode.flag_control_velocity_enabled) {
// TODO
/* velocity control */
struct vehicle_global_velocity_setpoint_s global_vel_sp;
memset(&global_vel_sp, 0, sizeof(&global_vel_sp));
global_vel_sp.vx = offboard_control_sp.p1;
global_vel_sp.vy = offboard_control_sp.p2;
global_vel_sp.vz = offboard_control_sp.p3;
if (_att_sp_pub > 0) {
close(_att_sp_pub);
_att_sp_pub = -1;
}
if (_rates_sp_pub > 0) {
close(_rates_sp_pub);
_rates_sp_pub = -1;
}
if (_global_vel_sp_pub < 0) {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint_s), &_global_vel_sp_pub);
} else {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint_s), _global_vel_sp_pub, &global_vel_sp);
}
} else if (_control_mode.flag_control_attitude_enabled) {
/* attitude control */
@@ -1038,6 +1067,11 @@ MavlinkReceiver::receive_thread(void *arg)
_local_pos_sp_pub = -1;
}
if (_global_vel_sp_pub > 0) {
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}
if (_att_sp_pub > 0) {
close(_att_sp_pub);
_att_sp_pub = -1;