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Enable offboard actuator setpoints

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This commit is contained in:
JaeyoungLim
2021-11-07 21:38:42 +01:00
committed by GitHub
parent 47a191489e
commit cda7c6ceaa
3 changed files with 5 additions and 2 deletions
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msg/offboard_control_mode.msg
+1
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@@ -7,3 +7,4 @@ bool velocity
bool acceleration bool acceleration
bool attitude bool attitude
bool body_rate bool body_rate
bool actuator
src/modules/commander/Commander.cpp
+3 -2
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@@ -4066,12 +4066,13 @@ Commander::offboard_control_update()
old.velocity != ocm.velocity || old.velocity != ocm.velocity ||
old.acceleration != ocm.acceleration || old.acceleration != ocm.acceleration ||
old.attitude != ocm.attitude || old.attitude != ocm.attitude ||
old.body_rate != ocm.body_rate) { old.body_rate != ocm.body_rate ||
old.actuator != ocm.actuator) {
_status_changed = true; _status_changed = true;
} }
if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate) { if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate || ocm.actuator) {
offboard_available = true; offboard_available = true;
} }
} }
src/modules/mavlink/mavlink_receiver.cpp
+1
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@@ -1271,6 +1271,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
//bool ignore_setpoints = bool(actuator_target.group_mlx != 2); //bool ignore_setpoints = bool(actuator_target.group_mlx != 2);
offboard_control_mode_s offboard_control_mode{}; offboard_control_mode_s offboard_control_mode{};
offboard_control_mode.actuator = true;
offboard_control_mode.timestamp = hrt_absolute_time(); offboard_control_mode.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(offboard_control_mode); _offboard_control_mode_pub.publish(offboard_control_mode);