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Changes ControlAllocator to always publish actuator controls and status

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This commit is contained in:
Charles Cross
2022-02-19 12:11:41 -08:00
committed by Beat Küng
parent 59f9a40584
commit 51c055832f
1 changed files with 8 additions and 8 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+1 -1
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@@ -398,6 +398,7 @@ ControlAllocator::Run()
_control_allocation[i]->clipActuatorSetpoint(); _control_allocation[i]->clipActuatorSetpoint();
} }
}
// Publish actuator setpoint and allocator status // Publish actuator setpoint and allocator status
publish_actuator_controls(); publish_actuator_controls();
@@ -408,7 +409,6 @@ ControlAllocator::Run()
publish_control_allocator_status(); publish_control_allocator_status();
_last_status_pub = now; _last_status_pub = now;
} }
}
perf_end(_loop_perf); perf_end(_loop_perf);
} }