diff options
Diffstat (limited to 'src/platforms/ros/nodes/mavlink/mavlink.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/mavlink/mavlink.cpp | 38 |
1 files changed, 27 insertions, 11 deletions
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp index a7830e97f..8d658caa5 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.cpp +++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp @@ -49,7 +49,7 @@ using namespace px4; Mavlink::Mavlink() : _n(), _v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)), - _v_att_sp_pub(_n.advertise<vehicle_attitude_setpoint>("vehicle_attitude_setpoint", 1)) + _offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)) { _link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560"); _link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3)); @@ -102,18 +102,34 @@ void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg) mavlink_set_attitude_target_t set_att_target; mavlink_msg_set_attitude_target_decode(mmsg, &set_att_target); - vehicle_attitude_setpoint msg; - - msg.timestamp = get_time_micros(); - mavlink_quaternion_to_euler(set_att_target.q, &msg.roll_body, &msg.pitch_body, &msg.yaw_body); - mavlink_quaternion_to_dcm(set_att_target.q, (float(*)[3])msg.R_body.data()); - msg.R_valid = true; - msg.thrust = set_att_target.thrust; + offboard_control_mode offboard_control_mode_msg; + /* set correct ignore flags for body rate fields: copy from mavlink message */ + offboard_control_mode_msg.ignore_bodyrate = (bool)(set_att_target.type_mask & 0x7); + /* set correct ignore flags for thrust field: copy from mavlink message */ + offboard_control_mode_msg.ignore_thrust = (bool)(set_att_target.type_mask & (1 << 6)); + /* set correct ignore flags for attitude field: copy from mavlink message */ + offboard_control_mode_msg.ignore_attitude = (bool)(set_att_target.type_mask & (1 << 7)); + + offboard_control_mode_msg.timestamp = get_time_micros(); + _offboard_control_mode_pub.publish(offboard_control_mode_msg); + + vehicle_attitude_setpoint v_att_sp_msg; + + /* The real mavlink app has a ckeck at this location which makes sure that the attitude setpoint + * gets published only if in offboard mode. We leave that out for now. + * */ + + v_att_sp_msg.timestamp = get_time_micros(); + mavlink_quaternion_to_euler(set_att_target.q, &v_att_sp_msg.roll_body, &v_att_sp_msg.pitch_body, + &v_att_sp_msg.yaw_body); + mavlink_quaternion_to_dcm(set_att_target.q, (float(*)[3])v_att_sp_msg.R_body.data()); + v_att_sp_msg.R_valid = true; + v_att_sp_msg.thrust = set_att_target.thrust; for (ssize_t i = 0; i < 4; i++) { - msg.q_d[i] = set_att_target.q[i]; + v_att_sp_msg.q_d[i] = set_att_target.q[i]; } - msg.q_d_valid = true; + v_att_sp_msg.q_d_valid = true; - _v_att_sp_pub.publish(msg); + _v_att_sp_pub.publish(v_att_sp_msg); } |