From 8f5f3faf46242eb62ff9387429536ea5fcca13cc Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 20 Aug 2015 11:41:00 +0200 Subject: [PATCH] fw position controller should not publish att sp during a vtol transition --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 486f9ac7f4..e6ed69d455 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -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); }