From a1f660119c4ea792d1af54c1a4d07266bdc2bffd Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 17 Feb 2018 11:36:58 -0500 Subject: [PATCH] fw_pos_control_l1 consolidate message updates --- .../fw_pos_control_l1/FixedwingPositionControl.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 1e3c2c4b62..3ddf0789b9 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -1514,12 +1514,6 @@ FixedwingPositionControl::run() continue; } - vehicle_control_mode_poll(); - vehicle_command_poll(); - vehicle_land_detected_poll(); - vehicle_status_poll(); - _sub_sensors.update(); - /* only update parameters if they changed */ bool params_updated = false; orb_check(_params_sub, ¶ms_updated); @@ -1562,10 +1556,15 @@ FixedwingPositionControl::run() _alt_reset_counter = _global_pos.alt_reset_counter; _pos_reset_counter = _global_pos.lat_lon_reset_counter; + _sub_sensors.update(); airspeed_poll(); - vehicle_attitude_poll(); manual_control_setpoint_poll(); position_setpoint_triplet_poll(); + vehicle_attitude_poll(); + vehicle_command_poll(); + vehicle_control_mode_poll(); + vehicle_land_detected_poll(); + vehicle_status_poll(); math::Vector<2> curr_pos((float)_global_pos.lat, (float)_global_pos.lon); math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);