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fw_att_control: workaround, don't publish to actuator_1

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Julian Oes
2014-03-29 20:37:58 +01:00
parent 947b09a120
commit 5e51812c8b
1 changed files with 12 additions and 12 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+12 -12
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@@ -832,18 +832,18 @@ FixedwingAttitudeControl::task_main()
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
} }
if (_actuators_1_pub > 0) { // if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */ // /* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); // orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", //// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], //// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], //// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); //// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
//
} else { // } else {
/* advertise and publish */ // /* advertise and publish */
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); // _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
} // }
} }