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manual_control: use correct sysid/compid

This commit is contained in:
Julian Oes 2021-06-16 09:35:49 +02:00 committed by Matthias Grob
parent cfdb53a4d8
commit 963d15eacc
2 changed files with 17 additions and 17 deletions
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30
src/modules/manual_control/ManualControl.cpp
View File

@ -413,8 +413,8 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
return;
}
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -427,9 +427,8 @@ void ManualControl::send_arm_command(ArmingAction action, ArmingOrigin origin)
command.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
command.param1 = static_cast<float>(action);
command.param3 = static_cast<float>(origin); // We use param3 to signal the origin.
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -443,8 +442,8 @@ void ManualControl::send_rtl_command()
command.param1 = 1.0f;
command.param2 = PX4_CUSTOM_MAIN_MODE_AUTO;
command.param3 = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -458,8 +457,8 @@ void ManualControl::send_loiter_command()
command.param1 = 1.0f;
command.param2 = PX4_CUSTOM_MAIN_MODE_AUTO;
command.param3 = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -472,9 +471,8 @@ void ManualControl::send_offboard_command()
command.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
command.param1 = 1.0f;
command.param2 = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
command.target_system = 1;
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -486,8 +484,8 @@ void ManualControl::send_termination_command(bool should_terminate)
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
command.param1 = should_terminate ? 1.0f : 0.0f;
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
@ -508,8 +506,8 @@ void ManualControl::send_vtol_transition_command(uint8_t action)
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
command.param1 = action;
command.target_system = 1;
command.target_component = 1;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();

4
src/modules/manual_control/ManualControl.hpp
View File

@ -185,7 +185,9 @@ private:
(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6
(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id
)
};
} // namespace manual_control