diff options
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index 9ca54339d..0c32026f3 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -205,8 +205,25 @@ void Commander::OffboardControlModeCallback(const px4::offboard_control_modeCons /* Force system into offboard control mode */ if (!_got_manual_control) { SetOffboardControl(_msg_offboard_control_mode, _msg_vehicle_control_mode); + + px4::vehicle_status msg_vehicle_status; + msg_vehicle_status.timestamp = px4::get_time_micros(); + msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF; + msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR; + msg_vehicle_status.is_rotary_wing = true; + msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED; + + + _msg_actuator_armed.armed = true; + _msg_actuator_armed.timestamp = px4::get_time_micros(); + _msg_vehicle_control_mode.timestamp = px4::get_time_micros(); + _msg_vehicle_control_mode.flag_armed = true; + + _vehicle_control_mode_pub.publish(_msg_vehicle_control_mode); + _actuator_armed_pub.publish(_msg_actuator_armed); + _vehicle_status_pub.publish(msg_vehicle_status); } } |