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Update offboard control uorb topic

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Work towards supporting the new external setpoint mavlink messages
This commit is contained in:
Thomas Gubler
2014-07-03 14:42:59 +02:00
parent 57f707af56
commit 839710daf8
5 changed files with 97 additions and 41 deletions
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src/modules/commander/commander.cpp
+6 -10
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@@ -946,7 +946,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
@@ -1847,21 +1847,17 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true; /* XXX: hack for now */
control_mode.flag_control_velocity_enabled = true;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
//XXX: the flags could depend on sp_offboard.ignore
break;
default:
control_mode.flag_control_rates_enabled = false;