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Use current_sp for publishing orbit status

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This commit is contained in:
Jaeyoung Lim
2022-01-19 14:39:59 +01:00
committed by Daniel Agar
parent dec5e7e9c8
commit 0dea56f88b
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -884,12 +884,12 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
break;
case position_setpoint_s::SETPOINT_TYPE_VELOCITY:
control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
control_auto_velocity(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp);
break;
case position_setpoint_s::SETPOINT_TYPE_LOITER:
control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
publishOrbitStatus(pos_sp_curr);
publishOrbitStatus(current_sp);
break;