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FW Att control: Fix merge fail for attitude setpoint

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Lorenz Meier
2015-08-04 17:44:54 +02:00
parent d68b6e2896
commit 4cf51beb4b
1 changed files with 8 additions and 6 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+8 -6
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@@ -945,13 +945,15 @@ FixedwingAttitudeControl::task_main()
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
if (!_vehicle_status.is_rotary_wing) {
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
} else if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
} else {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
}
}