From d63db203ba5d16c815fb617021286db953782326 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 15 Dec 2016 19:25:38 +0100 Subject: [PATCH] mc_pos_control: don't publish attitude sp 2x --- .../mc_pos_control/mc_pos_control_main.cpp | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 08526fb3d8..ee2efbc88b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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); }