Changed struct name used for local_pos_sp

1 files changed, 9 insertions, 12 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 4ee78516f..6a105762b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -118,7 +118,7 @@ private:
 	int		_arming_sub;			/**< arming status of outputs */
 	int		_local_pos_sub;			/**< vehicle local position */
 	int		_pos_sp_triplet_sub;		/**< position setpoint triplet */
-	int 	_offboard_control_pos_sp_sub;	/**< offboard control position setpoint */
+	int 		_local_pos_sp_sub;		/**< offboard local position setpoint */
 
 	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
 	orb_advert_t	_local_pos_sp_pub;		/**< vehicle local position setpoint publication */
@@ -133,7 +133,6 @@ 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 vehicle_local_position_setpoint_s 	_offboard_control_pos_sp; /**< offboard control position setpoint */
 		
 
 	struct {
@@ -280,7 +279,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
 	memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
 	memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
-	memset(&_offboard_control_pos_sp, 0, sizeof(_offboard_control_pos_sp));
 
 	memset(&_ref_pos, 0, sizeof(_ref_pos));
 
@@ -532,7 +530,7 @@ MulticopterPositionControl::task_main()
 	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
 	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
-	_offboard_control_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+	_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
 
 	parameters_update(true);
 
@@ -671,26 +669,25 @@ MulticopterPositionControl::task_main()
 
 			} else if (_control_mode.flag_control_offboard_enabled) {
 				/* Offboard control */
-				/* Team elikos doesn't really know what it is doing */
 				bool updated;
-				orb_check(_offboard_control_pos_sp_sub, &updated);
+				orb_check(_local_pos_sp_sub, &updated);
 
 				if (updated) {
-					orb_copy(ORB_ID(vehicle_local_position_setpoint), _offboard_control_pos_sp_sub,
-					         &_offboard_control_pos_sp);
+					orb_copy(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_sub,
+					         &_local_pos_sp);
 				}
 
 				/* Make sure position control is selected i.e. not only velocity control */
 				if (_control_mode.flag_control_position_enabled) {
-				_pos_sp(0) = _offboard_control_pos_sp.x;
-				_pos_sp(1) = _offboard_control_pos_sp.y;
+				_pos_sp(0) = _local_pos_sp.x;
+				_pos_sp(1) = _local_pos_sp.y;
 				}
 
 				if (_control_mode.flag_control_altitude_enabled) {
-				_pos_sp(2) = _offboard_control_pos_sp.z;
+				_pos_sp(2) = _local_pos_sp.z;
 				}
 
-				_att_sp.yaw_body = _offboard_control_pos_sp.yaw;
+				_att_sp.yaw_body = _local_pos_sp.yaw;
 			
 			} else {
 				/* AUTO */