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| author | Julian Oes <julian@oes.ch> | 2014-06-21 12:28:08 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 12:54:00 +0200 |
| commit | 98fffe61071b5332a9875efce932ff7c8688ab76 (patch) | |
| tree | 2ac28302423abaae53d2deea58d1fcde4c1a70da /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 993e4d41d8165e27f03e51af5b809da6fd3a7509 (diff) | |
| download | px4-firmware-98fffe61071b5332a9875efce932ff7c8688ab76.tar.gz px4-firmware-98fffe61071b5332a9875efce932ff7c8688ab76.tar.bz2 px4-firmware-98fffe61071b5332a9875efce932ff7c8688ab76.zip | |
mc_pos_control: added missing subscribe
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 | 6 |
1 files changed, 4 insertions, 2 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 a4c871d95..e020b2224 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -134,7 +134,7 @@ private: struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ - + struct { param_t thr_min; @@ -533,6 +533,8 @@ MulticopterPositionControl::task_main() _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); _local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + _global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); + parameters_update(true); @@ -699,7 +701,7 @@ MulticopterPositionControl::task_main() reset_pos_sp(); reset_alt_sp(); } - + } else { /* AUTO */ bool updated; |