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| author | Benjamin O'Connell-Armand <benjamin.oconnell@polymtl.ca> | 2014-06-14 15:50:21 -0400 |
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| committer | Benjamin O'Connell-Armand <benjamin.oconnell@polymtl.ca> | 2014-06-14 15:50:21 -0400 |
| commit | 128ec447ad43d5a25abcbdda6de01ca7ebc681cf (patch) | |
| tree | abfe572c88966745ae58815142572f87fa7d3209 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 7d05f2df7cf50dea6d2960001b5b0af7236f9e5e (diff) | |
| download | px4-firmware-128ec447ad43d5a25abcbdda6de01ca7ebc681cf.tar.gz px4-firmware-128ec447ad43d5a25abcbdda6de01ca7ebc681cf.tar.bz2 px4-firmware-128ec447ad43d5a25abcbdda6de01ca7ebc681cf.zip | |
Fix various compilation issue
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 53394b41c..86112fa21 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -117,9 +117,9 @@ private: int _manual_sub; /**< notification of manual control updates */ int _arming_sub; /**< arming status of outputs */ int _local_pos_sub; /**< vehicle local position */ - int _pos_sp_triplet_sub; /**< position setpoint triplet */ - int _local_pos_sp_sub; /**< offboard local position setpoint */ - int _global_vel_sp_sub; /**< offboard global velocity setpoint */ + int _pos_sp_triplet_sub; /**< position setpoint triplet */ + int _local_pos_sp_sub; /**< offboard local position setpoint */ + int _global_vel_sp_sub; /**< offboard global velocity setpoint */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ @@ -802,6 +802,7 @@ MulticopterPositionControl::task_main() if (!_control_mode.flag_control_position_enabled && _control_mode.flag_control_velocity_enabled) { _vel_sp(0) = _global_vel_sp.vx; _vel_sp(1) = _global_vel_sp.vy; + } } if (!_control_mode.flag_control_manual_enabled) { @@ -827,7 +828,7 @@ MulticopterPositionControl::task_main() /* Close fd to let offboard vel sp be advertised in mavlink receiver */ if (_control_mode.flag_control_offboard_enabled && _global_vel_sp_pub > 0) { - close (_global_vel_sp); + close(_global_vel_sp_pub); _global_vel_sp_pub = -1; } |