diff options
| 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/vtol_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/vtol_att_control')
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 50 |
1 files changed, 29 insertions, 21 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 288ba2ebe..53a08f97a 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -782,18 +782,22 @@ void VtolAttitudeControl::task_main() fill_mc_att_control_output(); fill_mc_att_rates_sp(); - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); - - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0); - } - - if (_actuators_1_pub > 0) { - orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1); - - } else { - _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1); + /* Only publish if actuator_control mode is not enabled */ + if(!_v_control_mode.flag_control_offboard_actuator_control_enabled) + { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); + + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0); + } + + if (_actuators_1_pub > 0) { + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1); + + } else { + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1); + } } } } @@ -813,18 +817,22 @@ void VtolAttitudeControl::task_main() fill_fw_att_control_output(); fill_fw_att_rates_sp(); - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); + /* Only publish if actuator_control mode is not enabled */ + if(!_v_control_mode.flag_control_offboard_actuator_control_enabled) + { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0); - } + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0); + } - if (_actuators_1_pub > 0) { - orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1); + if (_actuators_1_pub > 0) { + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1); - } else { - _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1); + } else { + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1); + } } } } |