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mc_rate_control: publish torque&thrust sp for VTOLs during hover and transition

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This commit is contained in:
Julien Lecoeur
2019-11-18 17:02:46 +01:00
parent 2b98add9ec
commit 0fede1ff50
1 changed files with 8 additions and 4 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+8 -4
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@@ -309,10 +309,14 @@ MulticopterRateControl::Run()
_controller_status_pub.publish(rate_ctrl_status);
// publish controller output
publish_actuator_controls();
publish_angular_acceleration_setpoint();
publish_torque_setpoint();
publish_thrust_setpoint();
if (!_vehicle_status.is_vtol
|| (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING))
|| (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode)) {
publish_actuator_controls();
publish_angular_acceleration_setpoint();
publish_torque_setpoint();
publish_thrust_setpoint();
}
} else if (_v_control_mode.flag_control_termination_enabled) {
if (!_vehicle_status.is_vtol) {