diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 18 |
1 files changed, 7 insertions, 11 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index a4c6c3da4..27a6d4bca 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -540,8 +540,6 @@ 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(); @@ -665,10 +663,10 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints - if ((mavlink_system.sysid == set_actuator_control_target.target_system || - set_actuator_control_target.target_system == 0) && - (mavlink_system.compid == set_actuator_control_target.target_component || - set_actuator_control_target.target_component == 0)){ + if ((mavlink_system.sysid == set_actuator_control_target.target_system || + set_actuator_control_target.target_system == 0) && + (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; @@ -678,8 +676,6 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m offboard_control_mode.ignore_velocity = true; offboard_control_mode.ignore_acceleration_force = true; - offboard_control_mode.actuator_control_mode = true; - offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub < 0) { @@ -690,11 +686,12 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m actuator_controls.timestamp = hrt_absolute_time(); - for(size_t i = 0; i < 8 ; i++){ + /* Set duty cycles for the servos in actuator_controls_0 */ + for(size_t i = 0; i < 8; i++) { actuator_controls.control[i] = set_actuator_control_target.controls[i]; } - if (_offboard_control_mode_pub < 0) { + if (_actuator_controls_pub < 0) { _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); } else { orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls); @@ -783,7 +780,6 @@ 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; |