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Publish orbit status also when the waypoint is a loiter waypoint (#19048)

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* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
This commit is contained in:
JaeyoungLim
2022-01-21 09:13:03 +01:00
committed by GitHub
parent bcd057ac3e
commit 0607982b23
1 changed files with 5 additions and 2 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -2
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@@ -872,6 +872,11 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
_position_sp_type = position_sp_type;
if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER
|| current_sp.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
publishOrbitStatus(current_sp);
}
switch (position_sp_type) {
case position_setpoint_s::SETPOINT_TYPE_IDLE:
_att_sp.thrust_body[0] = 0.0f;
@@ -889,8 +894,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
case position_setpoint_s::SETPOINT_TYPE_LOITER:
control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
publishOrbitStatus(current_sp);
break;
case position_setpoint_s::SETPOINT_TYPE_LAND: