Mirrors_Framework/PX4-Autopilot
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fw position controller should not publish att sp during a vtol transition

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tumbili
2015-08-20 11:41:00 +02:00
committed by Simon Wilks
parent 2c69d2d5d6
commit 8f5f3faf46
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -2
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@@ -1791,11 +1791,11 @@ FixedwingPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing) {
if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
} else if (_attitude_sp_pub == nullptr && !_vehicle_status.is_rotary_wing) {
} else if (_attitude_sp_pub == nullptr && !_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}