fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 22:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL GPSF: fix fixed bank loiter (#12778)

Browse Source 
* GPS Failsafe fix for VTOL
* navigator: use new uORB API for VTOL publication
This commit is contained in:
ThomasRigi
2019-10-16 17:57:44 +02:00
committed by Julian Oes
parent 412c364e90
commit 17c17f26a9
2 changed files with 8 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/gpsfailure.cpp
+7 -1
View File
@@ -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) &&