fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 16:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

MAVLink/Commander: @Pedro-Roque's offboard yawrate handling

Browse Source
This commit is contained in:
Matthias Grob
2019-05-24 08:01:56 +01:00
committed by Julian Oes
parent 579cbbb42c
commit ac002db25c
5 changed files with 59 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+10 -1
View File
@@ -3322,7 +3322,10 @@ set_control_mode()
* The control flags depend on what is ignored according to the offboard control mode topic
* Inner loop flags (e.g. attitude) also depend on outer loop ignore flags (e.g. position)
*/
control_mode.flag_control_rates_enabled = !offboard_control_mode.ignore_bodyrate ||
control_mode.flag_control_rates_enabled =
!offboard_control_mode.ignore_bodyrate_x ||
!offboard_control_mode.ignore_bodyrate_y ||
!offboard_control_mode.ignore_bodyrate_z ||
!offboard_control_mode.ignore_attitude ||
!offboard_control_mode.ignore_position ||
!offboard_control_mode.ignore_velocity ||
@@ -3333,6 +3336,12 @@ set_control_mode()
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_yawrate_override_enabled =
offboard_control_mode.ignore_bodyrate_x &&
offboard_control_mode.ignore_bodyrate_y &&
!offboard_control_mode.ignore_bodyrate_z &&
!offboard_control_mode.ignore_attitude;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_acceleration_enabled = !offboard_control_mode.ignore_acceleration_force &&