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improve mavlink set_attitude_target handling #1983

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improve mavlink set_attitude_target handling #1983

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48 changes: 26 additions & 22 deletions src/modules/mavlink/mavlink_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_hil_local_alt0(0.0f),
_hil_local_proj_ref{},
_offboard_control_mode{},
_att_sp{},
_rates_sp{},
_time_offset_avg_alpha(0.6),
_time_offset(0)
Expand Down Expand Up @@ -783,16 +784,16 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
* 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));
bool ignore_bodyrate_msg = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7));

if (ignore_bodyrate && ignore_attitude && !_offboard_control_mode.ignore_thrust) {
if (ignore_bodyrate_msg && ignore_attitude_msg && !_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;
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg && _offboard_control_mode.ignore_bodyrate;
_offboard_control_mode.ignore_attitude = ignore_attitude_msg && _offboard_control_mode.ignore_attitude;
} else {
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
_offboard_control_mode.ignore_attitude = ignore_attitude;
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg;
_offboard_control_mode.ignore_attitude = ignore_attitude_msg;
}

_offboard_control_mode.ignore_position = true;
Expand Down Expand Up @@ -821,32 +822,35 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)

/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(_offboard_control_mode.ignore_attitude)) {
static struct vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
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_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
_att_sp.timestamp = hrt_absolute_time();
if (!ignore_attitude_msg) { // only copy att sp if message contained new data
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_attitude_target.q, (float(*)[3])_att_sp.R_body);
_att_sp.R_valid = true;
_att_sp.yaw_sp_move_rate = 0.0;
memcpy(_att_sp.q_d, set_attitude_target.q, sizeof(_att_sp.q_d));
_att_sp.q_d_valid = true;
}
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
att_sp.thrust = set_attitude_target.thrust;
_att_sp.thrust = set_attitude_target.thrust;
}
att_sp.yaw_sp_move_rate = 0.0;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
}
}

/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
///XXX add support for ignoring individual axes
if (!(_offboard_control_mode.ignore_bodyrate)) {
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp.roll = set_attitude_target.body_roll_rate;
_rates_sp.pitch = set_attitude_target.body_pitch_rate;
_rates_sp.yaw = set_attitude_target.body_yaw_rate;
if (!ignore_bodyrate_msg) { // only copy att rates sp if message contained new data
_rates_sp.roll = set_attitude_target.body_roll_rate;
_rates_sp.pitch = set_attitude_target.body_pitch_rate;
_rates_sp.yaw = set_attitude_target.body_yaw_rate;
}
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
_rates_sp.thrust = set_attitude_target.thrust;
}
Expand Down
1 change: 1 addition & 0 deletions src/modules/mavlink/mavlink_receiver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -184,6 +184,7 @@ class MavlinkReceiver
float _hil_local_alt0;
struct map_projection_reference_s _hil_local_proj_ref;
struct offboard_control_mode_s _offboard_control_mode;
struct vehicle_attitude_setpoint_s _att_sp;
struct vehicle_rates_setpoint_s _rates_sp;
double _time_offset_avg_alpha;
uint64_t _time_offset;
Expand Down