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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-03-01 12:33:27 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-03-01 12:33:27 +0100 |
| commit | 0dec33526b3d372950733c9a3588d88cc622fc08 (patch) | |
| tree | 1adfd226ba8c8754e1a0834513f69a6bd765687a | |
| parent | f10bcb037778ec47e947e724cd354a7d3de55473 (diff) | |
| download | px4-firmware-0dec33526b3d372950733c9a3588d88cc622fc08.tar.gz px4-firmware-0dec33526b3d372950733c9a3588d88cc622fc08.tar.bz2 px4-firmware-0dec33526b3d372950733c9a3588d88cc622fc08.zip | |
mc pos ctrl: do not publish att sp in offboard && no position/velocity control
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 25 |
1 files changed, 16 insertions, 9 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 7f87e3532..e29b0c66f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -761,8 +761,8 @@ void MulticopterPositionControl::control_auto(float dt) orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); //Make sure that the position setpoint is valid - if (!isfinite(_pos_sp_triplet.current.lat) || - !isfinite(_pos_sp_triplet.current.lon) || + if (!isfinite(_pos_sp_triplet.current.lat) || + !isfinite(_pos_sp_triplet.current.lon) || !isfinite(_pos_sp_triplet.current.alt)) { _pos_sp_triplet.current.valid = false; } @@ -1367,7 +1367,7 @@ MulticopterPositionControl::task_main() } else if (yaw_offs > YAW_OFFSET_MAX) { _att_sp.yaw_body = _wrap_pi(_att.yaw + YAW_OFFSET_MAX); - } + } } //Control roll and pitch directly if we no aiding velocity controller is active @@ -1388,15 +1388,22 @@ MulticopterPositionControl::task_main() _att_sp.timestamp = hrt_absolute_time(); } else { - reset_yaw_sp = true; + reset_yaw_sp = true; } - // publish attitude setpoint - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + /* publish attitude setpoint + * Do not publish if offboard is enabled but position/velocity control is disabled, + * in this case the attitude setpoint is published by the mavlink app + */ + if (!(_control_mode.flag_control_offboard_enabled && + !(_control_mode.flag_control_position_enabled || + _control_mode.flag_control_velocity_enabled))) { + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); - } else { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ |