From 17c17f26a91e972b314003caf8528f43ec53f73a Mon Sep 17 00:00:00 2001 From: ThomasRigi <48206725+ThomasRigi@users.noreply.github.com> Date: Wed, 16 Oct 2019 17:57:44 +0200 Subject: [PATCH] VTOL GPSF: fix fixed bank loiter (#12778) * GPS Failsafe fix for VTOL * navigator: use new uORB API for VTOL publication --- src/modules/navigator/gpsfailure.cpp | 8 +++++++- src/modules/navigator/gpsfailure.h | 2 +- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp index ff0785bec8..9bfdd93659 100644 --- a/src/modules/navigator/gpsfailure.cpp +++ b/src/modules/navigator/gpsfailure.cpp @@ -93,7 +93,13 @@ GpsFailure::on_active() q.copyTo(att_sp.q_d); att_sp.q_d_valid = true; - _att_sp_pub.publish(att_sp); + if (_navigator->get_vstatus()->is_vtol) { + _fw_virtual_att_sp_pub.publish(att_sp); + + } else { + _att_sp_pub.publish(att_sp); + + } /* Measure time */ if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) && diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h index d956dfba53..536f55b279 100644 --- a/src/modules/navigator/gpsfailure.h +++ b/src/modules/navigator/gpsfailure.h @@ -76,7 +76,7 @@ private: hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */ uORB::Publication _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)}; - + uORB::Publication _fw_virtual_att_sp_pub{ORB_ID(fw_virtual_attitude_setpoint)}; /** * Set the GPSF item */