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arm automatically when offboard control mode is set

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This commit is contained in:
Andreas Antener
2015-02-28 18:25:36 +01:00
committed by Thomas Gubler
parent e5d54a487f
commit cbbc660b88
1 changed files with 17 additions and 0 deletions
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src/platforms/ros/nodes/commander/commander.cpp
+17
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@@ -205,8 +205,25 @@ void Commander::OffboardControlModeCallback(const px4::offboard_control_modeCons
/* Force system into offboard control mode */ /* Force system into offboard control mode */
if (!_got_manual_control) { if (!_got_manual_control) {
SetOffboardControl(_msg_offboard_control_mode, _msg_vehicle_control_mode); SetOffboardControl(_msg_offboard_control_mode, _msg_vehicle_control_mode);
px4::vehicle_status msg_vehicle_status;
msg_vehicle_status.timestamp = px4::get_time_micros();
msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF;
msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR;
msg_vehicle_status.is_rotary_wing = true;
msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED;
_msg_actuator_armed.armed = true;
_msg_actuator_armed.timestamp = px4::get_time_micros();
_msg_vehicle_control_mode.timestamp = px4::get_time_micros(); _msg_vehicle_control_mode.timestamp = px4::get_time_micros();
_msg_vehicle_control_mode.flag_armed = true;
_vehicle_control_mode_pub.publish(_msg_vehicle_control_mode); _vehicle_control_mode_pub.publish(_msg_vehicle_control_mode);
_actuator_armed_pub.publish(_msg_actuator_armed);
_vehicle_status_pub.publish(msg_vehicle_status);
} }
} }