publish default control limits once

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -2183,6 +2183,19 @@ FixedwingPositionControl::Run()
 
 	/* only run controller if position changed */
 
+	if (!_control_limits_published_once) {
+		longitudinal_control_limits_s longitudinal_control_limits{.timestamp = hrt_absolute_time()};
+		setDefaultLongControlLimits(longitudinal_control_limits);
+		_longitudinal_ctrl_limits_pub.publish(longitudinal_control_limits);
+
+		lateral_control_limits_s lateral_limits{.timestamp = hrt_absolute_time()};
+		lateral_limits.lateral_accel_max = rollAngleToLateralAccel(radians(_param_fw_r_lim.get()));
+		_lateral_ctrl_limits_pub.publish(lateral_limits);
+
+		_control_limits_published_once = true;
+
+	}
+
 	if (_local_pos_sub.update(&_local_pos)) {
 
 		const float control_interval = math::constrain((_local_pos.timestamp - _last_time_position_control_called) * 1e-6f,

src/modules/fw_pos_control/FixedwingPositionControl.hpp

@@ -228,6 +228,8 @@ private:
 	vehicle_local_position_s _local_pos{};
 	vehicle_status_s _vehicle_status{};
 
+	bool _control_limits_published_once{false};
+
 	Vector2f _lpos_where_backtrans_started;
 
 	bool _position_setpoint_previous_valid{false};