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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-25 14:25:28 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | 220fb19eb74b330bd3e97efc628aeb1bda510dcf (patch) | |
| tree | 8e301637b76e75bff02aa4c8bac7923c12fc9090 /src/modules/fw_att_control | |
| parent | d7dc3a3ee85e3a3c28d97ef49d53026f254d3650 (diff) | |
| download | px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.tar.gz px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.tar.bz2 px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.zip | |
Removed actuator_control_mode flags...Using pre-existing flags instead
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index a7b563b0f..5daeae477 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll() orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated); if (vcontrol_mode_updated) { - //vehicle_control_mode_s + orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode); } } @@ -1077,8 +1077,9 @@ FixedwingAttitudeControl::task_main() _actuators_airframe.timestamp = hrt_absolute_time(); _actuators_airframe.timestamp_sample = _att.timestamp; - /* Only publish if actuator_control mode is not enabled */ - if(!_vcontrol_mode.flag_control_offboard_actuator_control_enabled) + /* Only publish if any of the proper modes are enabled */ + if(_vcontrol_mode.flag_control_rates_enabled || + _vcontrol_mode.flag_control_attitude_enabled) { /* publish the actuator controls */ if (_actuators_0_pub > 0) { |