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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 14:42:59 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 14:46:25 +0200 |
| commit | 839710daf841a9528a58e915f8b04484bf54e7dc (patch) | |
| tree | 997f95813e3a5cdf8af393323398e841f29c0fae /src/modules/commander/commander.cpp | |
| parent | 57f707af56be0d9281a95aebf64baf63ef022267 (diff) | |
| download | px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.tar.gz px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.tar.bz2 px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.zip | |
Update offboard control uorb topic
Work towards supporting the new external setpoint mavlink messages
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 16 |
1 files changed, 6 insertions, 10 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 38297745d..7185eebc4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -946,7 +946,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Perform system checks (again) once params are loaded and MAVLink is up. */ - if (!system_checked && mavlink_fd && + if (!system_checked && mavlink_fd && (telemetry.heartbeat_time > 0) && (hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) { @@ -1847,21 +1847,17 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; break; - case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; /* XXX: hack for now */ - control_mode.flag_control_velocity_enabled = true; - break; - case OFFBOARD_CONTROL_MODE_DIRECT_POSITION: + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; control_mode.flag_control_position_enabled = true; control_mode.flag_control_velocity_enabled = true; + //XXX: the flags could depend on sp_offboard.ignore break; default: control_mode.flag_control_rates_enabled = false; |