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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-24 16:43:49 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | e2de72b882d7c74cdaafcfc74ab7176ef94a4455 (patch) | |
| tree | 2799a1bc7974749a4a5a05278c0aa1674c06c21a /src/modules/fw_att_control | |
| parent | 5e199b3984e35e6a8078abbc36d9c9440e1cd7af (diff) | |
| download | px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.tar.gz px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.tar.bz2 px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.zip | |
Added offboard actuator controls flags to offboard control mode and vehicle control mode to disable controls in att_control apps
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 28 |
1 files changed, 16 insertions, 12 deletions
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 5052b41c3..a7b563b0f 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1077,20 +1077,24 @@ FixedwingAttitudeControl::task_main() _actuators_airframe.timestamp = hrt_absolute_time(); _actuators_airframe.timestamp_sample = _att.timestamp; - /* publish the actuator controls */ - if (_actuators_0_pub > 0) { - orb_publish(_actuators_id, _actuators_0_pub, &_actuators); - } else if (_actuators_id) { - _actuators_0_pub= orb_advertise(_actuators_id, &_actuators); - } + /* Only publish if actuator_control mode is not enabled */ + if(!_vcontrol_mode.flag_control_offboard_actuator_control_enabled) + { + /* publish the actuator controls */ + if (_actuators_0_pub > 0) { + orb_publish(_actuators_id, _actuators_0_pub, &_actuators); + } else if (_actuators_id) { + _actuators_0_pub= orb_advertise(_actuators_id, &_actuators); + } - if (_actuators_2_pub > 0) { - /* publish the actuator controls*/ - orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe); + if (_actuators_2_pub > 0) { + /* publish the actuator controls*/ + orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe); - } else { - /* advertise and publish */ - _actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe); + } else { + /* advertise and publish */ + _actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe); + } } } |