diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-22 12:49:20 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-24 20:33:32 +0100 |
| commit | 7b57092a9dce92aca4187f2564a8534f6a95d590 (patch) | |
| tree | 2f5d2dc9aaa0e1bb5667a8f877d6eb63f7f27b5a /src/modules/mc_att_control_multiplatform/mc_att_control.cpp | |
| parent | e91dabd3d5ab0f7e94bc48734c6ea7e4daa2e5d6 (diff) | |
| download | px4-firmware-7b57092a9dce92aca4187f2564a8534f6a95d590.tar.gz px4-firmware-7b57092a9dce92aca4187f2564a8534f6a95d590.tar.bz2 px4-firmware-7b57092a9dce92aca4187f2564a8534f6a95d590.zip | |
multiplatform port of #1741: remove attitude sp generation from mc_att_control_multiplatform
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control.cpp')
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control.cpp | 12 |
1 files changed, 0 insertions, 12 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp index ecbf98c9e..9af4b3263 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp +++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp @@ -186,18 +186,6 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_atti if (_v_control_mode->data().flag_control_attitude_enabled) { control_attitude(dt); - /* publish the attitude setpoint if needed */ - if (_publish_att_sp && _v_status->data().is_rotary_wing) { - _v_att_sp_mod.data().timestamp = px4::get_time_micros(); - - if (_att_sp_pub != nullptr) { - _att_sp_pub->publish(_v_att_sp_mod); - - } else { - _att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>(); - } - } - /* publish attitude rates setpoint */ _v_rates_sp_mod.data().roll = _rates_sp(0); _v_rates_sp_mod.data().pitch = _rates_sp(1); |