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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -2094,12 +2094,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
return;
}
manual_control_input_s manual{};
manual_control_setpoint_s manual{};
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_input_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
}
src/modules/mavlink/mavlink_receiver.h
+2 -2
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@@ -80,7 +80,7 @@
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/log_message.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
@@ -326,7 +326,7 @@ private:
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
uORB::PublicationMulti<manual_control_input_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping)};
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
src/modules/mavlink/streams/MANUAL_CONTROL.hpp
+4 -4
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@@ -68,10 +68,10 @@ private:
mavlink_manual_control_t msg{};
msg.target = mavlink_system.sysid;
msg.x = manual_control_setpoint.chosen_input.x * 1000;
msg.y = manual_control_setpoint.chosen_input.y * 1000;
msg.z = manual_control_setpoint.chosen_input.z * 1000;
msg.r = manual_control_setpoint.chosen_input.r * 1000;
msg.x = manual_control_setpoint.x * 1000;
msg.y = manual_control_setpoint.y * 1000;
msg.z = manual_control_setpoint.z * 1000;
msg.r = manual_control_setpoint.r * 1000;
manual_control_switches_s manual_control_switches{};