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Merge pull request #2469 from tumbili/publishing_fixes 

VTOL: only publish attitude setpoint if in correct mode
This commit is contained in:
Lorenz Meier 2015-06-25 22:44:51 +02:00
parent 5b93d92339 dcb680f9d6
commit 6eb0bd0d9c
2 changed files with 14 additions and 5 deletions
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4
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -1762,11 +1762,11 @@ FixedwingPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0) {
if (_attitude_sp_pub > 0 && !_vehicle_status.is_rotary_wing) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
} else {
} else if (_attitude_sp_pub <= 0 && !_vehicle_status.is_rotary_wing) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}

15
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -119,6 +119,7 @@ private:
int _control_task; /**< task handle for task */
int _mavlink_fd; /**< mavlink fd */
int _vehicle_status_sub; /**< vehicle status subscription */
int _att_sub; /**< vehicle attitude subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _control_mode_sub; /**< vehicle control mode subscription */
@ -134,6 +135,7 @@ private:
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
@ -316,6 +318,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_reset_alt_sp(true),
_mode_auto(false)
{
memset(&_vehicle_status, 0, sizeof(_vehicle_status));
memset(&_att, 0, sizeof(_att));
memset(&_att_sp, 0, sizeof(_att_sp));
memset(&_manual, 0, sizeof(_manual));
@ -471,6 +474,12 @@ MulticopterPositionControl::poll_subscriptions()
{
bool updated;
orb_check(_vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
}
orb_check(_att_sub, &updated);
if (updated) {
@ -900,6 +909,7 @@ MulticopterPositionControl::task_main()
/*
* do subscriptions
*/
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@ -1432,10 +1442,9 @@ MulticopterPositionControl::task_main()
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub > 0) {
if (_att_sp_pub > 0 && _vehicle_status.is_rotary_wing) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {
} else if (_att_sp_pub <= 0 && _vehicle_status.is_rotary_wing){
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
}