From a8c5df90ce9245d2224147c3521169642e421a83 Mon Sep 17 00:00:00 2001 From: Mahima Yoga Date: Tue, 25 Nov 2025 21:25:43 +0100 Subject: [PATCH] fw-ctrl: advertise attitude_sp_pub in attitude and FwLateralLongitudinal controller (#25983) --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 1 + .../FwLateralLongitudinalControl.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index f658eb56c2..ec856e942d 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -48,6 +48,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) : /* fetch initial parameter values */ parameters_update(); _landing_gear_wheel_pub.advertise(); + _attitude_sp_pub.advertise(); } FixedwingAttitudeControl::~FixedwingAttitudeControl() diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp index 9c5647f1a5..53005d8ba5 100644 --- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp +++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp @@ -70,6 +70,7 @@ FwLateralLongitudinalControl::FwLateralLongitudinalControl(bool is_vtol) : _attitude_sp_pub(is_vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) { + _attitude_sp_pub.advertise(); _tecs_status_pub.advertise(); _flight_phase_estimation_pub.advertise(); _fixed_wing_lateral_status_pub.advertise();