增加视场角度

src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp

@@ -280,6 +280,8 @@ TFMINI_I2C::collect()
 	report.timestamp        = hrt_absolute_time();
 	report.type             = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
 	report.variance         = 0.0f;
+	report.h_fov = math::radians(1.15f);
+	report.v_fov = math::radians(1.15f);
 
 	int instance_id;
 	orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id);

src/modules/commander/Commander.cpp

@@ -737,6 +737,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					/* POSCTL */
 					reset_posvel_validity();
 					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
+					mavlink_log_info(&_mavlink_log_pub, "cmd mode:%d,ret:%d,lo:%d,go:%d\n",custom_main_mode,main_ret,_status_flags.condition_local_altitude_valid,_status_flags.condition_global_position_valid);
+					// main_ret = TRANSITION_CHANGED;
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -114,6 +114,7 @@ void FlightTaskManualPosition::_scaleSticks()
 	}
 
 	_velocity_setpoint.xy() = vel_sp_xy;
+
 }
 
 void FlightTaskManualPosition::_updateXYlock()

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -76,4 +76,5 @@ private:
 		nullptr;	/**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 
 	CollisionPrevention _collision_prevention;	/**< collision avoidance setpoint amendment */
+	orb_advert_t		_mavlink_log_pub{nullptr};	///< mavlink log pub
 };