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Added offboard actuator controls flags to offboard control mode and vehicle control mode to disable controls in att_control apps

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This commit is contained in:
Matt Beall
2015-02-28 15:19:16 +01:00
committed by Thomas Gubler
parent 5e199b3984
commit e2de72b882
7 changed files with 57 additions and 35 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -4
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@@ -540,7 +540,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
offboard_control_mode.actuator_control_mode = false;
offboard_control_mode.timestamp = hrt_absolute_time();
@@ -678,9 +678,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(O
actuator_controls.timestamp = RB_ID(offboard_control_mode), &offboard_control_mode);
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
@@ -774,6 +772,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude;
}
offboard_control_mode.actuator_control_mode = false;
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;