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Removed _is_vtol in MavlinkReceiver class

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This commit is contained in:
Ildar Sadykov
2019-10-26 18:29:16 +01:00
committed by Nuno Marques
parent c8edac0a1d
commit d2f0100e5e
2 changed files with 34 additions and 39 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+34 -37
View File
@@ -85,21 +85,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_parameters_manager(parent), _parameters_manager(parent),
_mavlink_timesync(parent) _mavlink_timesync(parent)
{ {
unsigned int system_type = _mavlink->get_system_type();
if (system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_TILTROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2 ||
system_type == MAV_TYPE_VTOL_RESERVED3 ||
system_type == MAV_TYPE_VTOL_RESERVED4 ||
system_type == MAV_TYPE_VTOL_RESERVED5) {
_is_vtol = true;
} else {
_is_vtol = false;
}
} }
void void
@@ -1402,33 +1387,42 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
} }
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
if (!_is_vtol) {
// Fill correct field by checking frametype
// TODO: add as needed
switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
case MAV_TYPE_FIXED_WING: // Fill correct field by checking frametype
att_sp.thrust_body[0] = set_attitude_target.thrust; // TODO: add as needed
break; switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
case MAV_TYPE_QUADROTOR: case MAV_TYPE_FIXED_WING:
case MAV_TYPE_HEXAROTOR: att_sp.thrust_body[0] = set_attitude_target.thrust;
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
att_sp.thrust_body[2] = -set_attitude_target.thrust;
break;
case MAV_TYPE_GROUND_ROVER:
att_sp.thrust_body[0] = set_attitude_target.thrust;
break;
}
_att_sp_pub.publish(att_sp); _att_sp_pub.publish(att_sp);
break;
} else { case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
att_sp.thrust_body[2] = -set_attitude_target.thrust;
_att_sp_pub.publish(att_sp);
break;
case MAV_TYPE_GROUND_ROVER:
att_sp.thrust_body[0] = set_attitude_target.thrust;
_att_sp_pub.publish(att_sp);
break;
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
case MAV_TYPE_VTOL_RESERVED2:
case MAV_TYPE_VTOL_RESERVED3:
case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5:
if (_vtol_vehicle_status_sub.updated()) { if (_vtol_vehicle_status_sub.updated()) {
_vtol_vehicle_status_sub.copy(&_vtol_vehicle_status); _vtol_vehicle_status_sub.copy(&_vtol_vehicle_status);
} }
@@ -1441,7 +1435,10 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
att_sp.thrust_body[0] = set_attitude_target.thrust; att_sp.thrust_body[0] = set_attitude_target.thrust;
_fw_virtual_att_sp_pub.publish(att_sp); _fw_virtual_att_sp_pub.publish(att_sp);
} }
break;
} }
} }
} }
src/modules/mavlink/mavlink_receiver.h
-2
View File
@@ -279,8 +279,6 @@ private:
hrt_abstime _last_utm_global_pos_com{0}; hrt_abstime _last_utm_global_pos_com{0};
bool _is_vtol{false};
vtol_vehicle_status_s _vtol_vehicle_status{}; vtol_vehicle_status_s _vtol_vehicle_status{};
DEFINE_PARAMETERS( DEFINE_PARAMETERS(