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Modified mavlink receiver to scale offboard position and velocity messages to centimeters

sbg
t0ni0 11 years ago
parent
d9b5efb263
commit
ca6463efd8
1 changed files with 22 additions and 5 deletions
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  1. 27
      src/modules/mavlink/mavlink_receiver.cpp

27
src/modules/mavlink/mavlink_receiver.cpp
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@ -365,30 +365,47 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message @@ -365,30 +365,47 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
ml_armed = true;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
ml_armed = true;
break;
default:
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
} else if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/*Temporary hack to use set_quad_swarm_roll_pitch_yaw_thrust msg for position or velocity */
/* Converts INT16 centimeters to float meters */
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / 100.0f;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / 100.0f;
}
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
@ -420,7 +437,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message @@ -420,7 +437,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
loc_pos_sp.x = offboard_control_sp.p1;
loc_pos_sp.y = offboard_control_sp.p2;
loc_pos_sp.yaw = offboard_control_sp.p3;
loc_pos_sp.z = offboard_control_sp.p4;
loc_pos_sp.z = -offboard_control_sp.p4;
/* Close fds to allow position controller to use attitude controller */
if (_att_sp_pub > 0) {

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