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navigator: publish global_position_setpoint on vehicle_status updates

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Anton Babushkin
2014-04-23 14:15:59 +02:00
parent a1cf8801bb
commit 60554c8a56
1 changed files with 4 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+4 -1
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@@ -692,6 +692,9 @@ Navigator::task_main()
/* evaluate state machine from commander and set the navigator mode accordingly */ /* evaluate state machine from commander and set the navigator mode accordingly */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { 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; bool stick_mode = false;
if (!_vstatus.rc_signal_lost) { if (!_vstatus.rc_signal_lost) {
@@ -813,8 +816,8 @@ Navigator::task_main()
if (fds[1].revents & POLLIN) { if (fds[1].revents & POLLIN) {
global_position_update(); 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) { 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; _pos_sp_triplet_updated = true;
if (myState == NAV_STATE_LAND && !_global_pos_valid) { if (myState == NAV_STATE_LAND && !_global_pos_valid) {