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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

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-09-26 15:59:15 +02:00
committed by Daniel Agar
parent 190c817a9e
commit bfbc9dda91
1 changed files with 1 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -1
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@@ -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