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Merge branch 'offboard_fix'

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This commit is contained in:
Steven Blass
2014-11-18 08:36:26 -05:00
parent aa152c335c 4eb930f704
commit b8ee71220e
3 changed files with 12 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -4
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@@ -538,12 +538,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_sp.ignore &= ~(1 << i); offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i)); offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
} }
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)) << if (set_position_target_local_ned.type_mask & (1 << 10)) {
(OFB_IGN_BIT_YAW - 10); offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW);
}
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)) << if (set_position_target_local_ned.type_mask & (1 << 11)) {
(OFB_IGN_BIT_YAWRATE - 11); offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE);
}
offboard_control_sp.timestamp = hrt_absolute_time(); offboard_control_sp.timestamp = hrt_absolute_time();
src/modules/navigator/navigator.h
+1
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@@ -205,6 +205,7 @@ private:
bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
src/modules/navigator/navigator_main.cpp
+3 -3
View File
@@ -137,6 +137,7 @@ Navigator::Navigator() :
_gpsFailure(this, "GPSF"), _gpsFailure(this, "GPSF"),
_can_loiter_at_sp(false), _can_loiter_at_sp(false),
_pos_sp_triplet_updated(false), _pos_sp_triplet_updated(false),
_pos_sp_triplet_published_invalid_once(false),
_param_loiter_radius(this, "LOITER_RAD"), _param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"), _param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"), _param_datalinkloss_obc(this, "DLL_OBC"),
@@ -469,9 +470,8 @@ Navigator::task_main()
} }
/* if nothing is running, set position setpoint triplet invalid once */ /* if nothing is running, set position setpoint triplet invalid once */
static bool published_once = false; if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
if (_navigation_mode == nullptr && !published_once) { _pos_sp_triplet_published_invalid_once = true;
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;