From 5f6d03099e07e20abe9cec685fee1244d7c9a0d4 Mon Sep 17 00:00:00 2001
From: Steven Blass <steven.r.blass@gmail.com>
Date: Mon, 17 Nov 2014 19:58:18 -0500
Subject: [PATCH] fixed yaw/yawrate bit masking. fixed navigator overriding
offboard setpoint
---
src/modules/mavlink/mavlink_receiver.cpp | 4 ++--
src/modules/navigator/navigator_main.cpp | 7 ++++---
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index bc092c7e9c..c0a8d7322f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -540,10 +540,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
- OFB_IGN_BIT_YAW;
+ (OFB_IGN_BIT_YAW - 10);
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
- OFB_IGN_BIT_YAWRATE;
+ (OFB_IGN_BIT_YAWRATE - 11);
offboard_control_sp.timestamp = hrt_absolute_time();
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 10a4ee88f6..5e98064996 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -468,9 +468,10 @@ Navigator::task_main()
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
- /* if nothing is running, set position setpoint triplet invalid */
- if (_navigation_mode == nullptr) {
- // TODO publish empty sp only once
+ /* if nothing is running, set position setpoint triplet invalid once */
+ static bool published_once = false;
+ if (_navigation_mode == nullptr && !published_once) {
+ published_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
--
GitLab