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Merge branch 'offboard_fix'

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This commit is contained in:
Steven Blass
2014-11-17 19:58:36 -05:00
parent 97a1410ec9 5f6d03099e
commit aa152c335c
2 changed files with 6 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -540,10 +540,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
} }
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW); offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) << offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
OFB_IGN_BIT_YAW; (OFB_IGN_BIT_YAW - 10);
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE); offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) << offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
OFB_IGN_BIT_YAWRATE; (OFB_IGN_BIT_YAWRATE - 11);
offboard_control_sp.timestamp = hrt_absolute_time(); offboard_control_sp.timestamp = hrt_absolute_time();
src/modules/navigator/navigator_main.cpp
+4 -3
View File
@@ -468,9 +468,10 @@ Navigator::task_main()
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
} }
/* if nothing is running, set position setpoint triplet invalid */ /* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr) { static bool published_once = false;
// TODO publish empty sp only once if (_navigation_mode == nullptr && !published_once) {
published_once = true;
_pos_sp_triplet.previous.valid = false; _pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false; _pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false; _pos_sp_triplet.next.valid = false;