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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-30 11:05:28 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-30 11:05:28 +0100 |
| commit | 5de80bbaf1e2d494304167fc7317abec919d9c41 (patch) | |
| tree | 1122bfc49aaef4a6bcdf398553642d324671dacf | |
| parent | ef065808a33d482ebea2715c4b4f0b5a936f1a73 (diff) | |
| download | px4-firmware-5de80bbaf1e2d494304167fc7317abec919d9c41.tar.gz px4-firmware-5de80bbaf1e2d494304167fc7317abec919d9c41.tar.bz2 px4-firmware-5de80bbaf1e2d494304167fc7317abec919d9c41.zip | |
Clean up MC controller usage of VTOL topics
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 28 |
1 files changed, 15 insertions, 13 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 25b085b7b..82d2ff23a 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -126,8 +126,8 @@ private: orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ - orb_id_t _rates_sp_id; // pointer to correct rates setpoint uORB metadata structure - orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure + orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */ + orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */ bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ @@ -283,8 +283,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _att_sp_pub(-1), _v_rates_sp_pub(-1), _actuators_0_pub(-1), - _rates_sp_id(ORB_ID(vehicle_rates_setpoint)), - _actuators_id(ORB_ID(actuator_controls_0)), + _rates_sp_id(0), + _actuators_id(0), _actuators_0_circuit_breaker_enabled(false), @@ -517,12 +517,14 @@ MulticopterAttitudeControl::vehicle_status_poll() if (vehicle_status_updated) { orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); /* set correct uORB ID, depending on if vehicle is VTOL or not */ - if (_vehicle_status.is_vtol) { - _rates_sp_id = ORB_ID(mc_virtual_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_virtual_mc); - } else { - _rates_sp_id = ORB_ID(vehicle_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_0); + if (!_rates_sp_id) { + if (_vehicle_status.is_vtol) { + _rates_sp_id = ORB_ID(mc_virtual_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_virtual_mc); + } else { + _rates_sp_id = ORB_ID(vehicle_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_0); + } } } } @@ -837,7 +839,7 @@ MulticopterAttitudeControl::task_main() if (_v_rates_sp_pub > 0) { orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); - } else { + } else if (_rates_sp_id) { _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp); } @@ -861,7 +863,7 @@ MulticopterAttitudeControl::task_main() if (_v_rates_sp_pub > 0) { orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp); - } else { + } else if (_rates_sp_id) { _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp); } @@ -889,7 +891,7 @@ MulticopterAttitudeControl::task_main() if (_actuators_0_pub > 0) { orb_publish(_actuators_id, _actuators_0_pub, &_actuators); - } else { + } else if (_actuators_id) { _actuators_0_pub = orb_advertise(_actuators_id, &_actuators); } |