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FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-09-10 13:20:07 -04:00
committed by Daniel Agar
parent 92b824e218
commit 702c6f6df4
1 changed files with 2 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -1
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@@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run()
if (_control_mode.flag_control_offboard_enabled || if (_control_mode.flag_control_offboard_enabled ||
_control_mode.flag_control_position_enabled || _control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled || _control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled) { _control_mode.flag_control_acceleration_enabled ||
_control_mode.flag_control_altitude_enabled) {
/* lazily publish the setpoint only once available */ /* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) { if (_attitude_sp_pub != nullptr) {