From 0dea56f88b80bb8ef74c3503cc47cceb53e7f7d2 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Wed, 19 Jan 2022 14:39:59 +0100 Subject: [PATCH] Use current_sp for publishing orbit status --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 235f6ab159..68d24fad2a 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -884,12 +884,12 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c break; case position_setpoint_s::SETPOINT_TYPE_VELOCITY: - control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr); + control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp); break; 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(pos_sp_curr); + publishOrbitStatus(current_sp); break;