Where is Offboard Control in FixedWingPositionControl.cpp? #7481
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Subject: Re: [PX4/Firmware] Where is Offboard Control in
FixedWingPositionControl.cpp? (#7481)
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Closed #7481.
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Subject: Re: [PX4/Firmware] Where is Offboard Control in
FixedWingPositionControl.cpp? (#7481)
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Hey, this issue has been closed because the label `status/STALE` is set and there were no updates for 30 days. Feel free to reopen this issue if you deem it appropriate.
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I am running a multi-plane SITL simulation to test offboard mode. I command one plane by constantly sending it SET_POSITION_TARGET_LOCAL_NED MAVLink messages and then setting it to offboard mode. However, the plane does not seem to be responding to these MAVLink commands despite being in offboard mode. The behavior seems like the heading is locked despite having been commanded a goto point.
So, I wrote a debugging application to view the internal uORB messages. This application shows the is_offboard_mode_enabled flag is true and the is_auto_mode_enabled flag is false. The position_setpoint_triplet message also updates the current position_setpoint as I command new waypoints to it. In fact, I check the valid flag just to be sure.
This is all normal but looking at FixedWingPositionControl.cpp it seems that the only code to handle waypoints is inside an if statement that is only executed if the vehicle is in auto mode and the current setpoint_position is valid.
Is this the only place where waypoints are handled? Is there code missing which handles offboard waypoints? I am trying to learn in the firmware where and how waypoints are commanded but I can't recognize or find the code where this happens.
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