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mavlink_receiver: handle LANDING_TARGET message: publish irlock_report when landing target position invalid

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This commit is contained in:
Dusan Zivkovic
2020-05-07 19:21:15 +02:00
committed by Daniel Agar
parent 951969ba00
commit b7ebdab7fd
2 changed files with 14 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12
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@@ -2328,6 +2328,18 @@ MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
landing_target_pose.z_abs = landing_target.z;
_landing_target_pose_pub.publish(landing_target_pose);
} else {
irlock_report_s irlock_report{};
irlock_report.timestamp = hrt_absolute_time();
irlock_report.signature = landing_target.target_num;
irlock_report.pos_x = landing_target.angle_x;
irlock_report.pos_y = landing_target.angle_y;
irlock_report.size_x = landing_target.size_x;
irlock_report.size_y = landing_target.size_y;
_irlock_report_pub.publish(irlock_report);
}
}
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -72,6 +72,7 @@
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/log_message.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -236,6 +237,7 @@ private:
uORB::Publication<debug_value_s> _debug_value_pub{ORB_ID(debug_value)};
uORB::Publication<debug_vect_s> _debug_vect_pub{ORB_ID(debug_vect)};
uORB::Publication<follow_target_s> _follow_target_pub{ORB_ID(follow_target)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};