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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-24 13:31:22 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | 5e199b3984e35e6a8078abbc36d9c9440e1cd7af (patch) | |
| tree | 35a2f29694573599dff4b3c47a3ea6b92f3718eb /src/modules/mavlink | |
| parent | 877232119fe78af70a6a096f7d3a3deec2d825fe (diff) | |
| download | px4-firmware-5e199b3984e35e6a8078abbc36d9c9440e1cd7af.tar.gz px4-firmware-5e199b3984e35e6a8078abbc36d9c9440e1cd7af.tar.bz2 px4-firmware-5e199b3984e35e6a8078abbc36d9c9440e1cd7af.zip | |
Set ignore flags to true
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 86dff69c5..7c506e005 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -667,6 +667,24 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m (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; + offboard_control_mode.ignore_attitude = true; + offboard_control_mode.ignore_bodyrate = true; + offboard_control_mode.ignore_position = true; + offboard_control_mode.ignore_velocity = true; + offboard_control_mode.ignore_acceleration_force = true; + + offboard_control_mode.timestamp = hrt_absolute_time(); + + if (_offboard_control_mode_pub < 0) { + _offboard_control_mode_pub = orb_advertise(O + actuator_controls.timestamp = RB_ID(offboard_control_mode), &offboard_control_mode); + + } else { + orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); + } + actuator_controls.timestamp = hrt_absolute_time(); for(size_t i = 0; i < 8 ; i++){ |