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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/mavlink | |
| 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/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7c506e005..48866f036 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -540,7 +540,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400); /* yawrate ignore flag mapps to ignore_bodyrate */ offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800); - + offboard_control_mode.actuator_control_mode = false; offboard_control_mode.timestamp = hrt_absolute_time(); @@ -678,9 +678,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m 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); - + _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } @@ -774,6 +772,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) offboard_control_mode.ignore_bodyrate = ignore_bodyrate; offboard_control_mode.ignore_attitude = ignore_attitude; } + offboard_control_mode.actuator_control_mode = false; offboard_control_mode.ignore_position = true; offboard_control_mode.ignore_velocity = true; |