fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 05:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

is_vtol flag in vehicle_status

Browse Source 
Getting rid of the autostart based checks if the system is a vtol
Fixes #1503
This commit is contained in:
Thomas Gubler
2014-12-18 14:46:31 +01:00
parent 6e874bed50
commit e18065081a
4 changed files with 40 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+10 -9
View File
@@ -285,6 +285,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
_actuators_0_circuit_breaker_enabled(false),
@@ -348,15 +350,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* fetch initial parameter values */
parameters_update();
// set correct uORB ID, depending on if vehicle is VTOL or not
if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
}
else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -531,6 +524,14 @@ MulticopterAttitudeControl::vehicle_status_poll()
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}