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fixed wing offboard attitude setpoint fix #6112

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merged 3 commits into from
Feb 16, 2017
Merged

fixed wing offboard attitude setpoint fix #6112

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f9de2de
fw_control: Attitude and position controllers respect OFFBOARD attitu…
aivian Dec 16, 2016
59f3262
added a flag that should allow fixed wing to go to offboard
aivian Feb 13, 2017
1c6fa1c
reenabled offboard mode in the state machine helper for fixed wing
aivian Feb 16, 2017
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2 changes: 1 addition & 1 deletion src/modules/fw_att_control/fw_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -974,7 +974,7 @@ FixedwingAttitudeControl::task_main()

// in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
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22 changes: 14 additions & 8 deletions src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2346,14 +2346,20 @@ FixedwingPositionControl::task_main()
_att_sp.q_d[3] = q(3);
_att_sp.q_d_valid = true;

/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);

} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
if (!_control_mode.flag_control_offboard_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled) {

/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);

} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
}

/* XXX check if radius makes sense here */
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