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[Draft] Fix SITL offboard attitude for VTOL_TYPE_RESERVED2 #13122

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[Draft] Fix SITL offboard attitude for VTOL_TYPE_RESERVED2 #13122

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00113a3
Fix SITL offboard attitude for VTOL_TYPE_RESERVED2
ThomasRigi Oct 8, 2019
0592bb4
Uncommented att sp publication for normal vehicles
ThomasRigi Oct 8, 2019
f4adb26
ran make format
ThomasRigi Oct 8, 2019
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11 changes: 10 additions & 1 deletion src/modules/mavlink/mavlink_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1397,6 +1397,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
case MAV_TYPE_VTOL_RESERVED2:
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Is this specific only for this VTOL type?

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I'm not sure how thrust is handled in the other VTOL types, so I preferred to leave it blank for those types. I only work on quadplanes.

Also, my newly added switch on lines 1410-1417 eventually needs to be updated with the other VTOL types (preferably by someone who knows the other types, not that I make a stupid mistake)

att_sp.thrust_body[2] = -set_attitude_target.thrust;
Comment on lines +1400 to 1401
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@jlecoeur jlecoeur Oct 9, 2019 •
edited
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This will work only in MC mode, att_sp.thrust_body[0] should be used when in fixed-wing mode.

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@irsdkv irsdkv Oct 9, 2019 •
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Now checked and filling in true thrust_body field
(Due to this switch)

break;

Expand All @@ -1406,7 +1407,15 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
}

_att_sp_pub.publish(att_sp);
switch (_mavlink->get_system_type()) {
case MAV_TYPE_VTOL_RESERVED2:
_virt_att_sp_pub.publish(att_sp);
break;

default:
_att_sp_pub.publish(att_sp);
break;
}
}

/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
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1 change: 1 addition & 0 deletions src/modules/mavlink/mavlink_receiver.h
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Expand Up @@ -229,6 +229,7 @@ class MavlinkReceiver : public ModuleParams
uORB::Publication<position_setpoint_triplet_s> _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _virt_att_sp_pub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Publication<vehicle_global_position_s> _global_pos_pub{ORB_ID(vehicle_global_position)};
uORB::Publication<vehicle_gps_position_s> _gps_pub{ORB_ID(vehicle_gps_position)};
uORB::Publication<vehicle_land_detected_s> _land_detector_pub{ORB_ID(vehicle_land_detected)};
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