From bfbc9dda91ae94d5a7815148af23109c0bb5cbe6 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 26 Sep 2019 15:59:15 +0200 Subject: [PATCH] VTOL: fix front transition rate publication (enable FW attitude controller to run instantly when transition is started). For that the vehicle_status_poll is moved before vehicle_control_module_poll in FW att C Signed-off-by: Silvan Fuhrer --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 28963ebab9..7358257e58 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -526,10 +526,10 @@ void FixedwingAttitudeControl::Run() const matrix::Eulerf euler_angles(R); vehicle_attitude_setpoint_poll(); + vehicle_status_poll(); // this poll has to be before the control_mode_poll, otherwise rate sp are not published during whole transition vehicle_control_mode_poll(); vehicle_manual_poll(); _global_pos_sub.update(&_global_pos); - vehicle_status_poll(); vehicle_land_detected_poll(); // the position controller will not emit attitude setpoints in some modes