From 80fbb512c98f7a026dacd8da1da0a319496db4ca Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 17 Feb 2015 22:02:41 +0100 Subject: ros: mavlink node: update to latest offboard code --- src/platforms/ros/nodes/mavlink/mavlink.cpp | 36 ++++++++++++++++++++--------- 1 file changed, 25 insertions(+), 11 deletions(-) (limited to 'src/platforms') diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp index 013788ecd..29ffe68ed 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.cpp +++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp @@ -124,16 +124,30 @@ void Mavlink::handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t c 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); + mavlink_set_attitude_target_t set_attitude_target; + mavlink_msg_set_attitude_target_decode(mmsg, &set_attitude_target); offboard_control_mode offboard_control_mode; - /* set correct ignore flags for body rate fields: copy from mavlink message */ - offboard_control_mode.ignore_bodyrate = (bool)(set_att_target.type_mask & 0x7); + /* set correct ignore flags for thrust field: copy from mavlink message */ - offboard_control_mode.ignore_thrust = (bool)(set_att_target.type_mask & (1 << 6)); - /* set correct ignore flags for attitude field: copy from mavlink message */ - offboard_control_mode.ignore_attitude = (bool)(set_att_target.type_mask & (1 << 7)); + offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6)); + + /* + * 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.timestamp = get_time_micros(); _offboard_control_mode_pub.publish(offboard_control_mode); @@ -145,13 +159,13 @@ void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg) */ att_sp.timestamp = get_time_micros(); - mavlink_quaternion_to_euler(set_att_target.q, &att_sp.roll_body, &att_sp.pitch_body, + 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_att_target.q, (float(*)[3])att_sp.R_body.data()); + mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body.data()); att_sp.R_valid = true; - att_sp.thrust = set_att_target.thrust; + att_sp.thrust = set_attitude_target.thrust; for (ssize_t i = 0; i < 4; i++) { - att_sp.q_d[i] = set_att_target.q[i]; + att_sp.q_d[i] = set_attitude_target.q[i]; } att_sp.q_d_valid = true; -- cgit v1.2.3