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Fix various compilation issue

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This commit is contained in:
Benjamin O'Connell-Armand
2014-06-14 15:50:21 -04:00
parent 7d05f2df7c
commit 128ec447ad
2 changed files with 9 additions and 8 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -4
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@@ -117,9 +117,9 @@ private:
int _manual_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _local_pos_sp_sub; /**< offboard local position setpoint */
int _global_vel_sp_sub; /**< offboard global velocity setpoint */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _local_pos_sp_sub; /**< offboard local position setpoint */
int _global_vel_sp_sub; /**< offboard global velocity setpoint */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
@@ -802,6 +802,7 @@ MulticopterPositionControl::task_main()
if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) {
_vel_sp(0) = _global_vel_sp.vx;
_vel_sp(1) = _global_vel_sp.vy;
}
}
if (!_control_mode.flag_control_manual_enabled) {
@@ -827,7 +828,7 @@ MulticopterPositionControl::task_main()
/* Close fd to let offboard vel sp be advertised in mavlink receiver */
if (_control_mode.flag_control_offboard_enabled && _global_vel_sp_pub > 0) {
close (_global_vel_sp);
close(_global_vel_sp_pub);
_global_vel_sp_pub = -1;
}