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Removed actuator_control_mode flags...Using pre-existing flags instead

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This commit is contained in:
Matt Beall
2015-02-28 15:19:16 +01:00
committed by Thomas Gubler
parent d7dc3a3ee8
commit 220fb19eb7
7 changed files with 18 additions and 31 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+4 -3
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@@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
//vehicle_control_mode_s
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
}
}
@@ -1077,8 +1077,9 @@ FixedwingAttitudeControl::task_main()
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if actuator_control mode is not enabled */
if(!_vcontrol_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if any of the proper modes are enabled */
if(_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled)
{
/* publish the actuator controls */
if (_actuators_0_pub > 0) {