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

7 files changed, 18 insertions, 31 deletions

diff --git a/msg/vehicle_control_mode.msg b/msg/vehicle_control_mode.msg
index 44f018642..153a642bb 100644
--- a/msg/vehicle_control_mode.msg
+++ b/msg/vehicle_control_mode.msg
@@ -12,7 +12,6 @@ bool flag_system_hil_enabled
 bool flag_control_manual_enabled		# true if manual input is mixed in
 bool flag_control_auto_enabled			# true if onboard autopilot should act
 bool flag_control_offboard_enabled		# true if offboard control should be used
-bool flag_control_offboard_actuator_control_enabled #true if raw actuator control in offboard used
 bool flag_control_rates_enabled			# true if rates are stabilized
 bool flag_control_attitude_enabled		# true if attitude stabilization is mixed in
 bool flag_control_force_enabled			# true if force control is mixed in
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 024e6c18a..2c5e0aa88 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2302,7 +2302,6 @@ set_control_mode()
 	control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
 	control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
 	control_mode.flag_control_offboard_enabled = false;
-	control_mode.flag_control_offboard_actuator_control_enabled = false;
 
 	switch (status.nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
@@ -2442,7 +2441,6 @@ set_control_mode()
 			!offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_acceleration_force;
 
-
 		control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_position;
 
@@ -2453,14 +2451,6 @@ set_control_mode()
 
 		control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
 
-		control_mode.flag_control_offboard_actuator_control_enabled =  offboard_control_mode.ignore_thrust &&
-		    offboard_control_mode.ignore_attitude &&
-		    offboard_control_mode.ignore_bodyrate &&
-		    offboard_control_mode.ignore_position &&
-		    offboard_control_mode.ignore_velocity &&
-		    offboard_control_mode.ignore_acceleration_force &&
-		    offboard_control_mode.actuator_control_mode;
-
 		break;
 
 	default:
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index a7b563b0f..5daeae477 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
 	orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
 
 	if (vcontrol_mode_updated) {
-		//vehicle_control_mode_s
+		
 		orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
 	}
 }
@@ -1077,8 +1077,9 @@ FixedwingAttitudeControl::task_main()
 			_actuators_airframe.timestamp = hrt_absolute_time();
 			_actuators_airframe.timestamp_sample = _att.timestamp;
 
-			/* Only publish if actuator_control mode is not enabled */
-			if(!_vcontrol_mode.flag_control_offboard_actuator_control_enabled)
+			/* Only publish if any of the proper modes are enabled */
+			if(_vcontrol_mode.flag_control_rates_enabled ||
+			   _vcontrol_mode.flag_control_attitude_enabled)
 			{
 				/* publish the actuator controls */
 				if (_actuators_0_pub > 0) {
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index a4c6c3da4..27a6d4bca 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -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;
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 099b92404..a0d76b0a6 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -804,7 +804,7 @@ MulticopterAttitudeControl::task_main()
 				_actuators.timestamp = hrt_absolute_time();
 				_actuators.timestamp_sample = _v_att.timestamp;
 
-				if (!_actuators_0_circuit_breaker_enabled || !_v_control_mode.flag_control_offboard_actuator_control_enabled) {
+				if (!_actuators_0_circuit_breaker_enabled) {
 					if (_actuators_0_pub > 0) {
 						orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
 						perf_end(_controller_latency_perf);
diff --git a/src/modules/uORB/topics/offboard_control_mode.h b/src/modules/uORB/topics/offboard_control_mode.h
index 956c3881e..559659a1d 100644
--- a/src/modules/uORB/topics/offboard_control_mode.h
+++ b/src/modules/uORB/topics/offboard_control_mode.h
@@ -61,7 +61,6 @@ struct offboard_control_mode_s {
 	bool ignore_position;
 	bool ignore_velocity;
 	bool ignore_acceleration_force;
-    bool actuator_control_mode;
 
 }; /**< offboard control inputs */
 /**
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 53a08f97a..74e1efd6c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -782,8 +782,9 @@ void VtolAttitudeControl::task_main()
 				fill_mc_att_control_output();
 				fill_mc_att_rates_sp();
 
-				/* Only publish if actuator_control mode is not enabled */
-				if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
+				/* Only publish if the proper mode(s) are enabled */
+				if(_v_control_mode.flag_control_attitude_enabled ||
+				   _v_control_mode.flag_control_rates_enabled)
 				{
 					if (_actuators_0_pub > 0) {
 						orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
@@ -817,8 +818,9 @@ void VtolAttitudeControl::task_main()
 				fill_fw_att_control_output();
 				fill_fw_att_rates_sp();
 
-				/* Only publish if actuator_control mode is not enabled */
-				if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
+				/* Only publish if the proper mode(s) are enabled */
+				if(_v_control_mode.flag_control_attitude_enabled ||
+				   _v_control_mode.flag_control_rates_enabled)
 				{
 					if (_actuators_0_pub > 0) {
 						orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);