From 02ef01986745055d62aa9ebfd9563b39c9e12517 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sun, 2 Jun 2019 13:52:14 +0200 Subject: [PATCH] Stop ignoring setpoints when actuator setpoints are for the gimbal --- src/modules/mavlink/mavlink_receiver.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 36e37780cd06..5819692fb4ae 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -992,16 +992,16 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m (mavlink_system.compid == set_actuator_control_target.target_component || set_actuator_control_target.target_component == 0) && values_finite) { - + bool ignore_setpoints = bool(set_actuator_control_target.group_mlx != 2); /* ignore all since we are setting raw actuators here */ - offboard_control_mode.ignore_thrust = true; - offboard_control_mode.ignore_attitude = true; - offboard_control_mode.ignore_bodyrate_x = true; - offboard_control_mode.ignore_bodyrate_y = true; - offboard_control_mode.ignore_bodyrate_z = true; - offboard_control_mode.ignore_position = true; - offboard_control_mode.ignore_velocity = true; - offboard_control_mode.ignore_acceleration_force = true; + offboard_control_mode.ignore_thrust = ignore_setpoints; + offboard_control_mode.ignore_attitude = ignore_setpoints; + offboard_control_mode.ignore_bodyrate_x = ignore_setpoints; + offboard_control_mode.ignore_bodyrate_y = ignore_setpoints; + offboard_control_mode.ignore_bodyrate_z = ignore_setpoints; + offboard_control_mode.ignore_position = ignore_setpoints; + offboard_control_mode.ignore_velocity = ignore_setpoints; + offboard_control_mode.ignore_acceleration_force = ignore_setpoints; offboard_control_mode.timestamp = hrt_absolute_time();