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mc_pos_control: don't publish attitude sp 2x

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This commit is contained in:
Julian Oes
2017-01-16 08:25:26 -08:00
committed by Lorenz Meier
parent 7ab2958757
commit d63db203ba
1 changed files with 0 additions and 16 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-16
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@@ -1040,14 +1040,6 @@ MulticopterPositionControl::control_manual(float dt)
_att_sp.timestamp = hrt_absolute_time();
/* publish attitude setpoint */
if (_att_sp_pub != nullptr) {
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
_att_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
} else {
control_position(dt);
}
@@ -1182,14 +1174,6 @@ MulticopterPositionControl::control_non_manual(float dt)
_att_sp.timestamp = hrt_absolute_time();
/* publish attitude setpoint */
if (_att_sp_pub != nullptr) {
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);
} else if (_attitude_setpoint_id) {
_att_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
} else {
control_position(dt);
}