diff options
author | t0ni0 <azntonio789@gmail.com> | 2014-06-17 13:21:20 -0400 |
---|---|---|
committer | t0ni0 <azntonio789@gmail.com> | 2014-06-17 13:30:45 -0400 |
commit | e078ef992fc21d86cbd09db89c25332273840b22 (patch) | |
tree | ec022c5fa66776a595a073ee06267cc253571021 /src/modules/mc_pos_control | |
parent | 61833905472465ebab615ecdd567b78eb1628d97 (diff) | |
download | px4-firmware-e078ef992fc21d86cbd09db89c25332273840b22.tar.gz px4-firmware-e078ef992fc21d86cbd09db89c25332273840b22.tar.bz2 px4-firmware-e078ef992fc21d86cbd09db89c25332273840b22.zip |
Removed publications closing
This is an attempt to correct the offboard setpoints being passed on as "NaN" values
Diffstat (limited to 'src/modules/mc_pos_control')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 20 |
1 files changed, 2 insertions, 18 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 35db05499..41fb20108 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -733,15 +733,10 @@ MulticopterPositionControl::task_main() if (_local_pos_sp_pub > 0) { orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp); - } else if (!_control_mode.flag_control_offboard_enabled) { + } else { _local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp); } - /* Close fd to let offboard pos sp be advertised in mavlink receiver*/ - if (_control_mode.flag_control_offboard_enabled && _local_pos_sp_pub > 0) { - close(_local_pos_sp_pub); - _local_pos_sp_pub = -1; - } if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ @@ -822,16 +817,10 @@ MulticopterPositionControl::task_main() if (_global_vel_sp_pub > 0) { orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp); - } else if (!_control_mode.flag_control_offboard_enabled) { + } else { _global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp); } - /* 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_pub); - _global_vel_sp_pub = -1; - } - if (_control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) { /* reset integrals if needed */ if (_control_mode.flag_control_climb_rate_enabled) { @@ -1099,11 +1088,6 @@ MulticopterPositionControl::task_main() reset_int_z = true; reset_int_xy = true; - /* Close att_sp pub to allow offboard mode or att controller to advertise */ - if (_att_sp_pub > 0) { - close(_att_sp_pub); - _att_sp_pub = -1; - } } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ |