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Merge pull request #2693 from PX4/transition_flag_fix

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mc_pos_controller: fix logic for att sp publication
This commit is contained in:
Roman Bapst 2015-08-17 18:59:07 +02:00
commit 1b50aba43f
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -1466,7 +1466,7 @@ MulticopterPositionControl::task_main()
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub != nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else if (_att_sp_pub == nullptr && _vehicle_status.is_rotary_wing){
} else if (_att_sp_pub == nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
}