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FwLateralLongitudinalControl: publish flight phase

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cherrypicked from https://github.com/PX4/PX4-Autopilot/pull/26219.
remove when rebasing on that.
This commit is contained in:
Balduin
2026-01-06 11:41:06 +01:00
parent 819c783b6c
commit e34cc2953c
1 changed files with 6 additions and 3 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+6 -3
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@@ -165,8 +165,6 @@ void FwLateralLongitudinalControl::Run()
_landed = landed.landed;
}
_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
_vehicle_status_sub.update();
_control_mode_sub.update();
@@ -420,8 +418,13 @@ FwLateralLongitudinalControl::tecs_update_pitch_throttle(const float control_int
_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_DESCEND;
} else {
//We can't infer the flight phase , do nothing, estimation is reset at each step
// We can't infer the flight phase , do nothing, estimation is reset at each step
_flight_phase_estimation_pub.get().flight_phase = flight_phase_estimation_s::FLIGHT_PHASE_UNKNOWN;
}
_flight_phase_estimation_pub.get().timestamp = hrt_absolute_time();
_flight_phase_estimation_pub.update();
}
}