fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 06:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: don't publish attitude sp 2x

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
-16
View File
@@ -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);
}