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Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing (#12311)

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* Fill in thrust field for rates sp
This commit is contained in:
JaeyoungLim
2019-06-20 17:17:32 +02:00
committed by Daniel Agar
parent 4831a4b0cf
commit 4c4bcc5fdb
1 changed files with 21 additions and 1 deletions
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22
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1419,7 +1419,27 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
rates_sp.thrust_body[2] = -set_attitude_target.thrust;
switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
case MAV_TYPE_FIXED_WING:
rates_sp.thrust_body[0] = set_attitude_target.thrust;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
rates_sp.thrust_body[2] = -set_attitude_target.thrust;
break;
case MAV_TYPE_GROUND_ROVER:
rates_sp.thrust_body[0] = set_attitude_target.thrust;
break;
}
}
if (_rates_sp_pub == nullptr) {