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-rw-r--r--msg/vehicle_control_mode.msg1
-rw-r--r--src/modules/commander/commander.cpp9
-rw-r--r--src/modules/fw_att_control/fw_att_control_main.cpp28
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp7
-rw-r--r--src/modules/mc_att_control/mc_att_control_main.cpp2
-rw-r--r--src/modules/uORB/topics/offboard_control_mode.h1
-rw-r--r--src/modules/vtol_att_control/vtol_att_control_main.cpp50
7 files changed, 60 insertions, 38 deletions
diff --git a/msg/vehicle_control_mode.msg b/msg/vehicle_control_mode.msg
index 153a642bb..44f018642 100644
--- a/msg/vehicle_control_mode.msg
+++ b/msg/vehicle_control_mode.msg
@@ -12,6 +12,7 @@ bool flag_system_hil_enabled
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used
+bool flag_control_offboard_actuator_control_enabled #true if raw actuator control in offboard used
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_force_enabled # true if force control is mixed in
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 5a362666c..e688b8fa5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2302,6 +2302,7 @@ set_control_mode()
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
+ control_mode.flag_control_offboard_actuator_control_enabled = false;
switch (status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
@@ -2452,6 +2453,14 @@ set_control_mode()
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
+ control_mode.flag_control_offboard_actuator_control_enabled = offboard_control_mode.ignore_thrust &&
+ offboard_control_mode.ignore_attitude &&
+ offboard_control_mode.ignore_bodyrate &&
+ offboard_control_mode.ignore_position &&
+ offboard_control_mode.ignore_velocity &&
+ offboard_control_mode.ignore_acceleration_force &&
+ offboard_control_mode.actuator_control_mode;
+
break;
default:
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);
+ }
}
}
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;
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index a0d76b0a6..099b92404 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -804,7 +804,7 @@ MulticopterAttitudeControl::task_main()
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
- if (!_actuators_0_circuit_breaker_enabled) {
+ if (!_actuators_0_circuit_breaker_enabled || !_v_control_mode.flag_control_offboard_actuator_control_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
diff --git a/src/modules/uORB/topics/offboard_control_mode.h b/src/modules/uORB/topics/offboard_control_mode.h
index 559659a1d..956c3881e 100644
--- a/src/modules/uORB/topics/offboard_control_mode.h
+++ b/src/modules/uORB/topics/offboard_control_mode.h
@@ -61,6 +61,7 @@ struct offboard_control_mode_s {
bool ignore_position;
bool ignore_velocity;
bool ignore_acceleration_force;
+ bool actuator_control_mode;
}; /**< offboard control inputs */
/**
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);
+ }
}
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-24 22:02:16 +0000