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Merge pull request #1462 from stebl/master

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Offboard control fix
This commit is contained in:
Lorenz Meier
2014-11-22 12:24:40 +01:00
parent 370b64345f 69271a7251
commit 685d3965a8
3 changed files with 21 additions and 8 deletions
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12
src/modules/mavlink/mavlink_receiver.cpp
View File

@@ -538,12 +538,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
OFB_IGN_BIT_YAW;
if (set_position_target_local_ned.type_mask & (1 << 10)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW);
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
OFB_IGN_BIT_YAWRATE;
if (set_position_target_local_ned.type_mask & (1 << 11)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE);
}
offboard_control_sp.timestamp = hrt_absolute_time();

1
src/modules/navigator/navigator.h
View File

@@ -205,6 +205,7 @@ private:
bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */

16
src/modules/navigator/navigator_main.cpp
View File

@@ -137,6 +137,7 @@ Navigator::Navigator() :
_gpsFailure(this, "GPSF"),
_can_loiter_at_sp(false),
_pos_sp_triplet_updated(false),
_pos_sp_triplet_published_invalid_once(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -427,12 +428,15 @@ Navigator::task_main()
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
@@ -440,11 +444,13 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
@@ -452,9 +458,11 @@ Navigator::task_main()
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
default:
@@ -468,9 +476,9 @@ Navigator::task_main()
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
// TODO publish empty sp only once
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;