From a0b7e1427bb0cf131079738230da74579191e7d3 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Sat, 14 Mar 2026 17:54:48 -0700 Subject: [PATCH] Offboard mode working --- .../FixedWingGuidanceControl.cpp | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp b/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp index 3784ee0854..5f015ba583 100644 --- a/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp +++ b/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp @@ -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;