support new yaw and yawrate fields in mavlnk position_target message

3 files changed, 54 insertions, 5 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 60fc2937a..3ac4d3b03 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -474,6 +474,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx;
 		offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy;
 		offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz;
+		offboard_control_sp.yaw = set_position_target_local_ned.yaw;
+		offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate;
 		offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
 
 		/* If we are in force control mode, for now set offboard mode to force control */
@@ -486,7 +488,12 @@ 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;
+		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;
 
 		offboard_control_sp.timestamp = hrt_absolute_time();
 
@@ -527,12 +534,12 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					pos_sp_triplet.previous.valid = false;
 					pos_sp_triplet.next.valid = false;
 					pos_sp_triplet.current.valid = true;
+					pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
 
 					/* set the local pos values if the setpoint type is 'local pos' and none
 					 * of the local pos fields is set to 'ignore' */
 					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
 							!offboard_control_sp_ignore_position_some(offboard_control_sp)) {
-					pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
 					pos_sp_triplet.current.position_valid = true;
 					pos_sp_triplet.current.x = offboard_control_sp.position[0];
 					pos_sp_triplet.current.y = offboard_control_sp.position[1];
@@ -545,7 +552,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					 * of the local vel fields is set to 'ignore' */
 					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
 							!offboard_control_sp_ignore_velocity_some(offboard_control_sp)) {
-						pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
 						pos_sp_triplet.current.velocity_valid = true;
 						pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
 						pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
@@ -558,7 +564,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					 * of the accelerations fields is set to 'ignore' */
 					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
 							!offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) {
-						pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
 						pos_sp_triplet.current.acceleration_valid = true;
 						pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0];
 						pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1];
@@ -569,6 +574,28 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					} else {
 						pos_sp_triplet.current.acceleration_valid = false;
 					}
+
+					/* set the yaw sp value if the setpoint type is 'local pos' and the yaw
+					 * field is not set to 'ignore' */
+					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
+							!offboard_control_sp_ignore_yaw(offboard_control_sp)) {
+						pos_sp_triplet.current.yaw_valid = true;
+						pos_sp_triplet.current.yaw = offboard_control_sp.yaw;
+
+					} else {
+						pos_sp_triplet.current.yaw_valid = false;
+					}
+
+					/* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate
+					 * field is not set to 'ignore' */
+					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
+							!offboard_control_sp_ignore_yawrate(offboard_control_sp)) {
+						pos_sp_triplet.current.yawspeed_valid = true;
+						pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate;
+
+					} else {
+						pos_sp_triplet.current.yawspeed_valid = false;
+					}
 					//XXX handle global pos setpoints (different MAV frames)
 
 
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 6e37896af..72a28e501 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -86,7 +86,9 @@ enum {OFB_IGN_BIT_POS_X,
 	OFB_IGN_BIT_BODYRATE_Y,
 	OFB_IGN_BIT_BODYRATE_Z,
 	OFB_IGN_BIT_ATT,
-	OFB_IGN_BIT_THRUST
+	OFB_IGN_BIT_THRUST,
+	OFB_IGN_BIT_YAW,
+	OFB_IGN_BIT_YAWRATE,
 };
 
 /**
@@ -105,6 +107,10 @@ struct offboard_control_setpoint_s {
 	float attitude[4];	/**< attitude of vehicle (quaternion) */
 	float attitude_rate[3];	/**< body angular rates (x, y, z) */
 	float thrust;	/**< thrust */
+	float yaw;	/**< yaw: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
+	float yaw_rate;	/**< yaw rate: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
 
 	uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
 			   for mapping */
@@ -249,6 +255,20 @@ inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setp
 	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
 }
 
+/**
+ * Returns true if the yaw setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
+}
+
+/**
+ * Returns true if the yaw rate setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
+}
+
 
 /* register this as object request broker structure */
 ORB_DECLARE(offboard_control_setpoint);
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 3ea3f671e..cb2262534 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -79,7 +79,9 @@ struct position_setpoint_s
 	double lon;			/**< longitude, in deg */
 	float alt;			/**< altitude AMSL, in m */
 	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	bool yaw_valid;			/**< true if yaw setpoint valid */
 	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
+	bool yawspeed_valid;		/**< true if yawspeed setpoint valid */
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */