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fixed wing offboard attitude setpoint fix (#6112)

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aivian
2017-02-15 23:51:50 -05:00
committed by Daniel Agar
parent a84dc2e3d2
commit 7a77e27a79
3 changed files with 15 additions and 11 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+13 -7
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@@ -2346,14 +2346,20 @@ FixedwingPositionControl::task_main()
_att_sp.q_d[3] = q(3);
_att_sp.q_d_valid = true;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
if (!_control_mode.flag_control_offboard_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled) {
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
}
/* XXX check if radius makes sense here */