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Use action_request to command RC VTOL transitions

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This commit is contained in:
Matthias Grob
2021-10-19 18:26:18 +02:00
parent dcd26bd2b8
commit a349dae760
5 changed files with 30 additions and 60 deletions
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src/modules/manual_control/ManualControl.cpp
+2 -15
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@@ -232,10 +232,10 @@ void ManualControl::Run()
if (switches.transition_switch != _previous_switches.transition_switch) {
if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_vtol_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING, action_request_s::SOURCE_RC_SWITCH);
} else if (switches.transition_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_vtol_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
sendActionRequest(action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER, action_request_s::SOURCE_RC_SWITCH);
}
}
@@ -342,19 +342,6 @@ void ManualControl::publish_landing_gear(int8_t action)
landing_gear_pub.publish(landing_gear);
}
void ManualControl::send_vtol_transition_command(uint8_t action)
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
command.param1 = action;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
}
int ManualControl::task_spawn(int argc, char *argv[])
{
ManualControl *instance = new ManualControl();