fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: publish global_position_setpoint on vehicle_status updates

Browse Source
This commit is contained in:
Anton Babushkin 2014-04-23 14:15:59 +02:00
parent a1cf8801bb
commit 60554c8a56
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/navigator/navigator_main.cpp
View File

@ -692,6 +692,9 @@ Navigator::task_main()
/* evaluate state machine from commander and set the navigator mode accordingly */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
/* publish position setpoint triplet on each status update if navigator active */
_pos_sp_triplet_updated = true;
bool stick_mode = false;
if (!_vstatus.rc_signal_lost) {
@ -813,8 +816,8 @@ Navigator::task_main()
if (fds[1].revents & POLLIN) {
global_position_update();
/* publish position setpoint triplet on each position update if navigator active */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
/* publish position setpoint triplet on each position update if navigator active */
_pos_sp_triplet_updated = true;
if (myState == NAV_STATE_LAND && !_global_pos_valid) {