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let vtol attitude control module publish attitude setpoint during transition

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Conflicts:
	src/modules/commander/commander.cpp
	src/modules/fw_att_control/fw_att_control_main.cpp
	src/modules/mc_pos_control/mc_pos_control_main.cpp
This commit is contained in:
Roman Bapst
2015-11-25 13:28:21 +01:00
committed by tumbili
parent 1f50041311
commit d55ccd96c6
2 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -1
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@@ -1610,7 +1610,9 @@ MulticopterPositionControl::task_main()
/* publish attitude setpoint
* Do not publish if offboard is enabled but position/velocity control is disabled,
* in this case the attitude setpoint is published by the mavlink app
* in this case the attitude setpoint is published by the mavlink app. Also do not publish
* if the vehicle is a VTOL and it's just doing a transition (the VTOL attitude control module will generate
* attitude setpoints for the transition).
*/
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||