forked from Archive/PX4-Autopilot
manual_control: use correct sysid/compid
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cfdb53a4d8
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963d15eacc
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@ -413,8 +413,8 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
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return;
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}
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -427,9 +427,8 @@ void ManualControl::send_arm_command(ArmingAction action, ArmingOrigin origin)
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command.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
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command.param1 = static_cast<float>(action);
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command.param3 = static_cast<float>(origin); // We use param3 to signal the origin.
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -443,8 +442,8 @@ void ManualControl::send_rtl_command()
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command.param1 = 1.0f;
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command.param2 = PX4_CUSTOM_MAIN_MODE_AUTO;
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command.param3 = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -458,8 +457,8 @@ void ManualControl::send_loiter_command()
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command.param1 = 1.0f;
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command.param2 = PX4_CUSTOM_MAIN_MODE_AUTO;
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command.param3 = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -472,9 +471,8 @@ void ManualControl::send_offboard_command()
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command.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
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command.param1 = 1.0f;
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command.param2 = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
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command.target_system = 1;
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -486,8 +484,8 @@ void ManualControl::send_termination_command(bool should_terminate)
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vehicle_command_s command{};
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command.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
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command.param1 = should_terminate ? 1.0f : 0.0f;
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -508,8 +506,8 @@ void ManualControl::send_vtol_transition_command(uint8_t action)
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vehicle_command_s command{};
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command.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
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command.param1 = action;
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command.target_system = 1;
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command.target_component = 1;
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command.target_system = _param_mav_sys_id.get();
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command.target_component = _param_mav_comp_id.get();
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uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
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command.timestamp = hrt_absolute_time();
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@ -185,7 +185,9 @@ private:
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(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
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(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
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(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
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(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6
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(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
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(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
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(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id
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)
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};
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} // namespace manual_control
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