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Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard (#12146)

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* Stop ignoring setpoints when actuator setpoints are for the gimbal
This commit is contained in:
JaeyoungLim 2019-06-16 03:35:41 +02:00 committed by Daniel Agar
parent 106ee280c5
commit d7d0bd2764
1 changed files with 10 additions and 10 deletions
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20
src/modules/mavlink/mavlink_receiver.cpp
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@ -992,16 +992,16 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0) &&
values_finite) {
/* ignore all since we are setting raw actuators here */
offboard_control_mode.ignore_thrust = true;
offboard_control_mode.ignore_attitude = true;
offboard_control_mode.ignore_bodyrate_x = true;
offboard_control_mode.ignore_bodyrate_y = true;
offboard_control_mode.ignore_bodyrate_z = true;
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
/* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */
bool ignore_setpoints = bool(set_actuator_control_target.group_mlx != 2);
offboard_control_mode.ignore_thrust = ignore_setpoints;
offboard_control_mode.ignore_attitude = ignore_setpoints;
offboard_control_mode.ignore_bodyrate_x = ignore_setpoints;
offboard_control_mode.ignore_bodyrate_y = ignore_setpoints;
offboard_control_mode.ignore_bodyrate_z = ignore_setpoints;
offboard_control_mode.ignore_position = ignore_setpoints;
offboard_control_mode.ignore_velocity = ignore_setpoints;
offboard_control_mode.ignore_acceleration_force = ignore_setpoints;
offboard_control_mode.timestamp = hrt_absolute_time();