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Publish orbit status whenever the vehicle is in loiter

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This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
This commit is contained in:
Jaeyoung-Lim
2022-01-19 12:00:03 -05:00
committed by Daniel Agar
parent 19c98b8841
commit dec5e7e9c8
1 changed files with 2 additions and 4 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -4
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@@ -843,10 +843,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
_att_sp.pitch_reset_integral = false; _att_sp.pitch_reset_integral = false;
_att_sp.yaw_reset_integral = false; _att_sp.yaw_reset_integral = false;
if (pos_sp_curr.valid && pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
publishOrbitStatus(pos_sp_curr);
}
position_setpoint_s current_sp = pos_sp_curr; position_setpoint_s current_sp = pos_sp_curr;
if (_vehicle_status.in_transition_to_fw) { if (_vehicle_status.in_transition_to_fw) {
@@ -893,6 +889,8 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
case position_setpoint_s::SETPOINT_TYPE_LOITER: case position_setpoint_s::SETPOINT_TYPE_LOITER:
control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next); control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
publishOrbitStatus(pos_sp_curr);
break; break;
case position_setpoint_s::SETPOINT_TYPE_LAND: case position_setpoint_s::SETPOINT_TYPE_LAND: