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replace _vehicle_status

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This commit is contained in:
Thomas 2020-12-08 16:17:59 +01:00 committed by Silvan Fuhrer
parent db58269577
commit d025787334
2 changed files with 18 additions and 11 deletions
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27
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -518,7 +518,10 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
_mavlink->request_stop_ulog_streaming();
} else if (cmd_mavlink.command == MAV_CMD_DO_CHANGE_SPEED) {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
vehicle_control_mode_s control_mode{};
_control_mode_sub.copy(&control_mode);
if (control_mode.flag_control_offboard_enabled) {
// Not differentiating between airspeed and groundspeed yet
set_offb_cruising_speed(cmd_mavlink.param2);
}
@ -1524,6 +1527,8 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
_control_mode_sub.copy(&control_mode);
if (control_mode.flag_control_offboard_enabled) {
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(offboard_control_mode.ignore_attitude)) {
@ -1542,14 +1547,14 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid
fill_thrust(att_sp.thrust_body, _vehicle_status.vehicle_type, set_attitude_target.thrust);
fill_thrust(att_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust);
}
// Publish attitude setpoint
if (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
_mc_virtual_att_sp_pub.publish(att_sp);
} else if (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
} else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
_fw_virtual_att_sp_pub.publish(att_sp);
} else {
@ -1580,7 +1585,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid
fill_thrust(rates_sp.thrust_body, _vehicle_status.vehicle_type, set_attitude_target.thrust);
fill_thrust(rates_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust);
}
_rates_sp_pub.publish(rates_sp);
@ -2974,8 +2979,6 @@ MavlinkReceiver::Run()
updateParams();
}
_vehicle_status_sub.update(&_vehicle_status);
int ret = poll(&fds[0], 1, timeout);
if (ret > 0) {
@ -3128,7 +3131,10 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
float
MavlinkReceiver::get_offb_cruising_speed()
{
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_offb_cruising_speed_mc > 0.0f) {
return _offb_cruising_speed_mc;
@ -3149,7 +3155,10 @@ MavlinkReceiver::get_offb_cruising_speed()
void
MavlinkReceiver::set_offb_cruising_speed(float speed)
{
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_offb_cruising_speed_mc = speed;
} else {

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -334,8 +334,6 @@ private:
hrt_abstime _last_utm_global_pos_com{0};
vehicle_status_s _vehicle_status{};
float _offb_cruising_speed_mc{-1.0f};
float _offb_cruising_speed_fw{-1.0f};