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vtol_att_control: ack transition commands #8264

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merged 1 commit into from
Nov 13, 2017
Merged

vtol_att_control: ack transition commands #8264

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28 changes: 27 additions & 1 deletion src/modules/vtol_att_control/vtol_att_control_main.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013 - 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
Expand Down Expand Up @@ -88,6 +88,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_vtol_vehicle_status_pub(nullptr),
_v_rates_sp_pub(nullptr),
_v_att_sp_pub(nullptr),
_v_cmd_ack_pub(nullptr),
_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
_abort_front_transition(false)

Expand Down Expand Up @@ -483,6 +484,31 @@ VtolAttitudeControl::handle_command()
// update transition command if necessary
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
_transition_command = int(_vehicle_cmd.param1 + 0.5f);

// Report that we have received the command no matter what we actually do with it.
// This might not be optimal but is better than no response at all.

if (_vehicle_cmd.from_external) {
vehicle_command_ack_s command_ack = {
.timestamp = hrt_absolute_time(),
.result_param2 = 0,
.command = _vehicle_cmd.command,
.result = (uint8_t)vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED,
.from_external = false,
.result_param1 = 0,
.target_system = _vehicle_cmd.source_system,
.target_component = _vehicle_cmd.source_component
};

if (_v_cmd_ack_pub == nullptr) {
_v_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);

} else {
orb_publish(ORB_ID(vehicle_command_ack), _v_cmd_ack_pub, &command_ack);

}
}
}
}

Expand Down
2 changes: 2 additions & 0 deletions src/modules/vtol_att_control/vtol_att_control_main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
Expand Down Expand Up @@ -159,6 +160,7 @@ class VtolAttitudeControl
orb_advert_t _vtol_vehicle_status_pub;
orb_advert_t _v_rates_sp_pub;
orb_advert_t _v_att_sp_pub;
orb_advert_t _v_cmd_ack_pub;

//*******************data containers***********************************************************
struct vehicle_attitude_s _v_att; //vehicle attitude
Expand Down