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fw_att_control don't store entire vehicle_land_detected message

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This commit is contained in:
Daniel Agar
2018-02-21 21:07:29 -05:00
parent 97815df1a8
commit bf42964432
2 changed files with 8 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+6 -2
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@@ -317,7 +317,11 @@ FixedwingAttitudeControl::vehicle_land_detected_poll()
orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated);
if (vehicle_land_detected_updated) {
orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
vehicle_land_detected_s vehicle_land_detected {};
if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
_landed = vehicle_land_detected.landed;
}
}
}
@@ -619,7 +623,7 @@ void FixedwingAttitudeControl::run()
/* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL)
*/
if (_vehicle_land_detected.landed
if (_landed
|| (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();