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Removed actuator_control_mode flags...Using pre-existing flags instead

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This commit is contained in:
Matt Beall
2015-02-25 14:25:28 -07:00
committed by Thomas Gubler
parent d7dc3a3ee8
commit 220fb19eb7
7 changed files with 18 additions and 31 deletions
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18
src/modules/mavlink/mavlink_receiver.cpp
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@@ -540,8 +540,6 @@ 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();
@@ -665,10 +663,10 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)){
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)) {
/* ignore all since we are setting raw actuators here */
offboard_control_mode.ignore_thrust = true;
@@ -678,8 +676,6 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.actuator_control_mode = true;
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
@@ -690,11 +686,12 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
actuator_controls.timestamp = hrt_absolute_time();
for(size_t i = 0; i < 8 ; i++){
/* Set duty cycles for the servos in actuator_controls_0 */
for(size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
if (_offboard_control_mode_pub < 0) {
if (_actuator_controls_pub < 0) {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
@@ -783,7 +780,6 @@ 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;