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mc_pos_control: added missing subscribe

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Julian Oes
2014-06-27 12:54:00 +02:00
parent 993e4d41d8
commit 98fffe6107
1 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
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@@ -134,7 +134,7 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct { struct {
param_t thr_min; param_t thr_min;
@@ -533,6 +533,8 @@ MulticopterPositionControl::task_main()
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); _local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
_global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
parameters_update(true); parameters_update(true);
@@ -699,7 +701,7 @@ MulticopterPositionControl::task_main()
reset_pos_sp(); reset_pos_sp();
reset_alt_sp(); reset_alt_sp();
} }
} else { } else {
/* AUTO */ /* AUTO */
bool updated; bool updated;