fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 23:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink ATTITUDE_TARGET: send also if vehicle_attitude_setpoint is not updated

Browse Source 
This is the case in MC acro
This commit is contained in:
Beat Küng
2021-05-16 13:01:20 -04:00
committed by Daniel Agar
parent 2a84afb6a2
commit 9fbbcc9c73
1 changed files with 15 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/ATTITUDE_TARGET.hpp
+15
View File
@@ -58,12 +58,27 @@ private:
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
hrt_abstime _last_att_sp_update{0};
bool send() override bool send() override
{ {
vehicle_attitude_setpoint_s att_sp; vehicle_attitude_setpoint_s att_sp;
bool updated = false;
if (_att_sp_sub.update(&att_sp)) { if (_att_sp_sub.update(&att_sp)) {
_last_att_sp_update = att_sp.timestamp;
updated = true;
} else if (hrt_elapsed_time(&_last_att_sp_update) > 500_ms) {
if (!_att_sp_sub.copy(&att_sp)) {
att_sp = {};
}
updated = _att_rates_sp_sub.updated();
}
if (updated) {
mavlink_attitude_target_t msg{}; mavlink_attitude_target_t msg{};
msg.time_boot_ms = att_sp.timestamp / 1000; msg.time_boot_ms = att_sp.timestamp / 1000;