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This is an attempt to correct the offboard setpoints being passed on as "NaN" values
This commit is contained in:
t0ni0
2014-06-17 13:30:45 -04:00
parent 6183390547
commit e078ef992f
3 changed files with 3 additions and 84 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -18
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@@ -733,15 +733,10 @@ MulticopterPositionControl::task_main()
if (_local_pos_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else if (!_control_mode.flag_control_offboard_enabled) {
} else {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
}
/* Close fd to let offboard pos sp be advertised in mavlink receiver*/
if (_control_mode.flag_control_offboard_enabled && _local_pos_sp_pub > 0) {
close(_local_pos_sp_pub);
_local_pos_sp_pub = -1;
}
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
/* idle state, don't run controller and set zero thrust */
@@ -822,16 +817,10 @@ MulticopterPositionControl::task_main()
if (_global_vel_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp);
} else if (!_control_mode.flag_control_offboard_enabled) {
} else {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp);
}
/* Close fd to let offboard vel sp be advertised in mavlink receiver */
if (_control_mode.flag_control_offboard_enabled && _global_vel_sp_pub > 0) {
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}
if (_control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) {
/* reset integrals if needed */
if (_control_mode.flag_control_climb_rate_enabled) {
@@ -1099,11 +1088,6 @@ MulticopterPositionControl::task_main()
reset_int_z = true;
reset_int_xy = true;
/* Close att_sp pub to allow offboard mode or att controller to advertise */
if (_att_sp_pub > 0) {
close(_att_sp_pub);
_att_sp_pub = -1;
}
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */