From f10bcb037778ec47e947e724cd354a7d3de55473 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 1 Mar 2015 12:32:46 +0100 Subject: mc pos ctrl multiplatform: do not publish att sp in offboard && no position/velocity control --- .../mc_pos_control_multiplatform/mc_pos_control.cpp | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) (limited to 'src/modules/mc_pos_control_multiplatform') diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index 2e14b744f..40268358a 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -1015,12 +1015,19 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti reset_yaw_sp = true; } - /* publish attitude setpoint */ - if (_att_sp_pub != nullptr) { - _att_sp_pub->publish(_att_sp_msg); + /* publish attitude setpoint + * Do not publish if offboard is enabled but position/velocity control is disabled, in this case the attitude setpoint + * is published by the mavlink app + */ + if (!(_control_mode->data().flag_control_offboard_enabled && + !(_control_mode->data().flag_control_position_enabled || + _control_mode->data().flag_control_velocity_enabled))) { + if (_att_sp_pub != nullptr) { + _att_sp_pub->publish(_att_sp_msg); - } else { - _att_sp_pub = _n.advertise(); + } else { + _att_sp_pub = _n.advertise(); + } } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ -- cgit v1.2.3