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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 14:46:25 +02:00
parent 57f707af56
commit 839710daf8
5 changed files with 97 additions and 41 deletions
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src/modules/navigator/offboard.cpp
+35 -22
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@@ -79,33 +79,46 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
bool changed = false;
/* copy offboard setpoints to the corresponding topics */
if (_navigator->get_control_mode()->flag_control_position_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) {
/* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_position_enabled &&
(!_offboard_control_sp.ignore[0] &&
!_offboard_control_sp.ignore[1] &&
!_offboard_control_sp.ignore[2])) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.p1;
pos_sp_triplet->current.y = _offboard_control_sp.p2;
pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
pos_sp_triplet->current.z = -_offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
changed = true;
changed = true;
} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
&& _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
}
/* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_velocity_enabled &&
(!_offboard_control_sp.ignore[3] &&
!_offboard_control_sp.ignore[4] &&
!_offboard_control_sp.ignore[5])) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.p2;
pos_sp_triplet->current.vy = _offboard_control_sp.p1;
pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
pos_sp_triplet->current.vz = _offboard_control_sp.p4;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
changed = true;
changed = true;
}
//XXX: map acceleration setpoint once supported in setpoint triplet
}
return changed;