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Offboard mode working

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This commit is contained in:
JaeyoungLim
2026-03-14 17:54:48 -07:00
parent 5cc60834d2
commit a0b7e1427b
1 changed files with 10 additions and 6 deletions
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src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp
+10 -6
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@@ -99,6 +99,9 @@ FixedWingGuidanceControl::parameters_update()
void
FixedWingGuidanceControl::vehicle_control_mode_poll()
{
if (_control_mode_sub.updated()) {
_control_mode_sub.copy(&_control_mode);
}
}
void
@@ -294,6 +297,13 @@ FixedWingGuidanceControl::Run()
vehicle_global_position_s gpos;
airspeed_poll();
manual_control_setpoint_poll();
vehicle_attitude_poll();
vehicle_control_mode_poll();
wind_poll(now);
if (_global_pos_sub.update(&gpos)) {
_current_latitude = gpos.lat;
_current_longitude = gpos.lon;
@@ -388,12 +398,6 @@ FixedWingGuidanceControl::Run()
}
}
airspeed_poll();
manual_control_setpoint_poll();
vehicle_attitude_poll();
vehicle_control_mode_poll();
wind_poll(now);
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected;