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offboard setpoints: correctly check for force setpoint

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Thomas Gubler
2014-08-12 14:57:14 +02:00
parent 8bbaacb1e9
commit a04d70ed5a
2 changed files with 35 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+5 -1
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@@ -441,7 +441,11 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
if (offboard_control_sp.isForceSetpoint) {
if (offboard_control_sp.isForceSetpoint &&
offboard_control_sp_ignore_position_all(offboard_control_sp) &&
offboard_control_sp_ignore_velocity_all(offboard_control_sp)) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
struct vehicle_force_setpoint_s force_sp;
force_sp.x = offboard_control_sp.acceleration[0];
force_sp.y = offboard_control_sp.acceleration[1];