diff options
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 1 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 279 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 8 | ||||
| -rw-r--r-- | src/modules/mavlink/module.mk | 2 |
5 files changed, 159 insertions, 133 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 024dfd6fb..f8e819ce7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2800, + 2400, (main_t)&Mavlink::start_helper, (char * const *)argv); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 9711d8fc3..7d6b60e22 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -51,7 +51,6 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_vicon_position.h> diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 90c3cb47f..0c34fc58a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -108,7 +108,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _cmd_pub(-1), _flow_pub(-1), _range_pub(-1), - _offboard_control_sp_pub(-1), + _offboard_control_mode_pub(-1), + _actuator_controls_pub(-1), _global_vel_sp_pub(-1), _att_sp_pub(-1), _rates_sp_pub(-1), @@ -170,6 +171,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_set_attitude_target(msg); break; + case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET: + handle_message_set_actuator_control_target(msg); + break; + case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(msg); break; @@ -517,8 +522,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t mavlink_set_position_target_local_ned_t set_position_target_local_ned; mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); - struct offboard_control_setpoint_s offboard_control_sp; - memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints + struct offboard_control_mode_s offboard_control_mode; + memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_position_target_local_ned.target_system || @@ -527,64 +532,22 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t set_position_target_local_ned.target_component == 0)) { /* convert mavlink type (local, NED) to uORB offboard control struct */ - switch (set_position_target_local_ned.coordinate_frame) { - case MAV_FRAME_LOCAL_NED: - offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED; - break; - case MAV_FRAME_LOCAL_OFFSET_NED: - offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED; - break; - case MAV_FRAME_BODY_NED: - offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED; - break; - case MAV_FRAME_BODY_OFFSET_NED: - offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED; - break; - default: - /* invalid setpoint, avoid publishing */ - return; - } - offboard_control_sp.position[0] = set_position_target_local_ned.x; - offboard_control_sp.position[1] = set_position_target_local_ned.y; - offboard_control_sp.position[2] = set_position_target_local_ned.z; - offboard_control_sp.velocity[0] = set_position_target_local_ned.vx; - offboard_control_sp.velocity[1] = set_position_target_local_ned.vy; - offboard_control_sp.velocity[2] = set_position_target_local_ned.vz; - offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx; - offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy; - offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz; - offboard_control_sp.yaw = set_position_target_local_ned.yaw; - offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate; - offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); - - /* If we are in force control mode, for now set offboard mode to force control */ - if (offboard_control_sp.isForceSetpoint) { - offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE; - } - - /* set ignore flags */ - for (int i = 0; i < 9; i++) { - offboard_control_sp.ignore &= ~(1 << i); - offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i)); - } - - offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW); - if (set_position_target_local_ned.type_mask & (1 << 10)) { - offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW); - } - - offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE); - if (set_position_target_local_ned.type_mask & (1 << 11)) { - offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE); - } + offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7); + offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38); + offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0); + bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); + /* yaw ignore flag mapps to ignore_attitude */ + 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_sp.timestamp = hrt_absolute_time(); + offboard_control_mode.timestamp = hrt_absolute_time(); - if (_offboard_control_sp_pub < 0) { - _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + if (_offboard_control_mode_pub < 0) { + _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { - orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled @@ -596,15 +559,14 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { - if (offboard_control_sp.isForceSetpoint && - offboard_control_sp_ignore_position_all(offboard_control_sp) && - offboard_control_sp_ignore_velocity_all(offboard_control_sp)) { + if (is_force_sp && offboard_control_mode.ignore_position && + offboard_control_mode.ignore_velocity) { /* The offboard setpoint is a force setpoint only, directly writing to the force * setpoint topic and not publishing the setpoint triplet topic */ struct vehicle_force_setpoint_s force_sp; - force_sp.x = offboard_control_sp.acceleration[0]; - force_sp.y = offboard_control_sp.acceleration[1]; - force_sp.z = offboard_control_sp.acceleration[2]; + force_sp.x = set_position_target_local_ned.afx; + force_sp.y = set_position_target_local_ned.afy; + force_sp.z = set_position_target_local_ned.afz; //XXX: yaw if (_force_sp_pub < 0) { _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); @@ -619,62 +581,53 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t pos_sp_triplet.current.valid = true; pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others - /* set the local pos values if the setpoint type is 'local pos' and none - * of the local pos fields is set to 'ignore' */ - if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && - !offboard_control_sp_ignore_position_some(offboard_control_sp)) { - pos_sp_triplet.current.position_valid = true; - pos_sp_triplet.current.x = offboard_control_sp.position[0]; - pos_sp_triplet.current.y = offboard_control_sp.position[1]; - pos_sp_triplet.current.z = offboard_control_sp.position[2]; + /* set the local pos values */ + if (!offboard_control_mode.ignore_position) { + pos_sp_triplet.current.position_valid = true; + pos_sp_triplet.current.x = set_position_target_local_ned.x; + pos_sp_triplet.current.y = set_position_target_local_ned.y; + pos_sp_triplet.current.z = set_position_target_local_ned.z; } else { pos_sp_triplet.current.position_valid = false; } - /* set the local vel values if the setpoint type is 'local pos' and none - * of the local vel fields is set to 'ignore' */ - if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && - !offboard_control_sp_ignore_velocity_some(offboard_control_sp)) { + /* set the local vel values */ + if (!offboard_control_mode.ignore_velocity) { pos_sp_triplet.current.velocity_valid = true; - pos_sp_triplet.current.vx = offboard_control_sp.velocity[0]; - pos_sp_triplet.current.vy = offboard_control_sp.velocity[1]; - pos_sp_triplet.current.vz = offboard_control_sp.velocity[2]; + pos_sp_triplet.current.vx = set_position_target_local_ned.vx; + pos_sp_triplet.current.vy = set_position_target_local_ned.vy; + pos_sp_triplet.current.vz = set_position_target_local_ned.vz; } else { pos_sp_triplet.current.velocity_valid = false; } /* set the local acceleration values if the setpoint type is 'local pos' and none * of the accelerations fields is set to 'ignore' */ - if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && - !offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) { + if (!offboard_control_mode.ignore_acceleration_force) { pos_sp_triplet.current.acceleration_valid = true; - pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0]; - pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1]; - pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2]; + pos_sp_triplet.current.a_x = set_position_target_local_ned.afx; + pos_sp_triplet.current.a_y = set_position_target_local_ned.afy; + pos_sp_triplet.current.a_z = set_position_target_local_ned.afz; pos_sp_triplet.current.acceleration_is_force = - offboard_control_sp.isForceSetpoint; + is_force_sp; } else { pos_sp_triplet.current.acceleration_valid = false; } - /* set the yaw sp value if the setpoint type is 'local pos' and the yaw - * field is not set to 'ignore' */ - if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && - !offboard_control_sp_ignore_yaw(offboard_control_sp)) { + /* set the yaw sp value */ + if (!offboard_control_mode.ignore_attitude) { pos_sp_triplet.current.yaw_valid = true; - pos_sp_triplet.current.yaw = offboard_control_sp.yaw; + pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw; } else { pos_sp_triplet.current.yaw_valid = false; } - /* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate - * field is not set to 'ignore' */ - if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED && - !offboard_control_sp_ignore_yawrate(offboard_control_sp)) { + /* set the yawrate sp value */ + if (!offboard_control_mode.ignore_bodyrate) { pos_sp_triplet.current.yawspeed_valid = true; - pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate; + pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate; } else { pos_sp_triplet.current.yawspeed_valid = false; @@ -699,6 +652,66 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t } void +MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg) +{ + mavlink_set_actuator_control_target_t set_actuator_control_target; + mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target); + + struct offboard_control_mode_s offboard_control_mode; + memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints + + 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)) { + + /* ignore all since we are setting raw actuators here */ + offboard_control_mode.ignore_thrust = true; + offboard_control_mode.ignore_attitude = true; + offboard_control_mode.ignore_bodyrate = true; + offboard_control_mode.ignore_position = true; + offboard_control_mode.ignore_velocity = true; + offboard_control_mode.ignore_acceleration_force = true; + + offboard_control_mode.timestamp = hrt_absolute_time(); + + if (_offboard_control_mode_pub < 0) { + _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); + } + + + /* If we are in offboard control mode, publish the actuator controls */ + bool updated; + orb_check(_control_mode_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } + + if (_control_mode.flag_control_offboard_enabled) { + + actuator_controls.timestamp = hrt_absolute_time(); + + /* 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 (_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); + } + } + } + +} + +void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t pos; @@ -743,42 +756,52 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) mavlink_set_attitude_target_t set_attitude_target; mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); - struct offboard_control_setpoint_s offboard_control_sp; - memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints + static struct offboard_control_mode_s offboard_control_mode = {}; /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_attitude_target.target_system || set_attitude_target.target_system == 0) && (mavlink_system.compid == set_attitude_target.target_component || set_attitude_target.target_component == 0)) { - for (int i = 0; i < 4; i++) { - offboard_control_sp.attitude[i] = set_attitude_target.q[i]; - } - offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate; - offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate; - offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate; - - /* set correct ignore flags for body rate fields: copy from mavlink message */ - for (int i = 0; i < 3; i++) { - offboard_control_sp.ignore &= ~(1 << (i + OFB_IGN_BIT_BODYRATE_X)); - offboard_control_sp.ignore |= (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X; - } + /* set correct ignore flags for thrust field: copy from mavlink message */ - offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST); - offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST); - /* set correct ignore flags for attitude field: copy from mavlink message */ - offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT); - offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT); + offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6)); + + /* + * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust + * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore + * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits + * set for everything else. + */ + + /* + * if attitude or body rate have been used (not ignored) previously and this message only sends + * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and + * body rates to keep the controllers running + */ + bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7); + bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7)); + + if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) { + /* Message want's us to ignore everything except thrust: only ignore if previously ignored */ + offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate; + offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude; + } else { + offboard_control_mode.ignore_bodyrate = ignore_bodyrate; + offboard_control_mode.ignore_attitude = ignore_attitude; + } + offboard_control_mode.ignore_position = true; + offboard_control_mode.ignore_velocity = true; + offboard_control_mode.ignore_acceleration_force = true; - offboard_control_sp.timestamp = hrt_absolute_time(); - offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode + offboard_control_mode.timestamp = hrt_absolute_time(); - if (_offboard_control_sp_pub < 0) { - _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + if (_offboard_control_mode_pub < 0) { + _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { - orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled @@ -793,15 +816,16 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) if (_control_mode.flag_control_offboard_enabled) { /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ - if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) || - offboard_control_sp_ignore_thrust(offboard_control_sp))) { - struct vehicle_attitude_setpoint_s att_sp; + if (!(offboard_control_mode.ignore_attitude)) { + static struct vehicle_attitude_setpoint_s att_sp = {}; att_sp.timestamp = hrt_absolute_time(); mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body); att_sp.R_valid = true; - att_sp.thrust = set_attitude_target.thrust; + if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid + att_sp.thrust = set_attitude_target.thrust; + } att_sp.yaw_sp_move_rate = 0.0; memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); att_sp.q_d_valid = true; @@ -814,14 +838,15 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ ///XXX add support for ignoring individual axes - if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) || - offboard_control_sp_ignore_thrust(offboard_control_sp))) { - struct vehicle_rates_setpoint_s rates_sp; + if (!(offboard_control_mode.ignore_bodyrate)) { + static struct vehicle_rates_setpoint_s rates_sp = {}; rates_sp.timestamp = hrt_absolute_time(); rates_sp.roll = set_attitude_target.body_roll_rate; rates_sp.pitch = set_attitude_target.body_pitch_rate; rates_sp.yaw = set_attitude_target.body_yaw_rate; - rates_sp.thrust = set_attitude_target.thrust; + if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid + rates_sp.thrust = set_attitude_target.thrust; + } if (_att_sp_pub < 0) { _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); @@ -1524,7 +1549,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) param.sched_priority = SCHED_PRIORITY_MAX - 80; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 2900); + pthread_attr_setstacksize(&receiveloop_attr, 2100); pthread_t thread; pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 699996860..4886bbd0a 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -53,7 +53,7 @@ #include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/offboard_control_mode.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -122,6 +122,7 @@ private: void handle_message_vision_position_estimate(mavlink_message_t *msg); void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); void handle_message_set_position_target_local_ned(mavlink_message_t *msg); + void handle_message_set_actuator_control_target(mavlink_message_t *msg); void handle_message_set_attitude_target(mavlink_message_t *msg); void handle_message_radio_status(mavlink_message_t *msg); void handle_message_manual_control(mavlink_message_t *msg); @@ -142,7 +143,7 @@ private: /** * Exponential moving average filter to smooth time offset */ - void smooth_time_offset(uint64_t offset_ns); + void smooth_time_offset(uint64_t offset_ns); mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; @@ -162,7 +163,8 @@ private: orb_advert_t _cmd_pub; orb_advert_t _flow_pub; orb_advert_t _range_pub; - orb_advert_t _offboard_control_sp_pub; + orb_advert_t _offboard_control_mode_pub; + orb_advert_t _actuator_controls_pub; orb_advert_t _global_vel_sp_pub; orb_advert_t _att_sp_pub; orb_advert_t _rates_sp_pub; diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index f9d30dcbe..e82b8bd93 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -51,7 +51,7 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink MAXOPTIMIZATION = -Os -MODULE_STACKSIZE = 1024 +MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed |