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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-25 14:25:28 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | 220fb19eb74b330bd3e97efc628aeb1bda510dcf (patch) | |
| tree | 8e301637b76e75bff02aa4c8bac7923c12fc9090 /src/modules/vtol_att_control | |
| parent | d7dc3a3ee85e3a3c28d97ef49d53026f254d3650 (diff) | |
| download | px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.tar.gz px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.tar.bz2 px4-firmware-220fb19eb74b330bd3e97efc628aeb1bda510dcf.zip | |
Removed actuator_control_mode flags...Using pre-existing flags instead
Diffstat (limited to 'src/modules/vtol_att_control')
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 53a08f97a..74e1efd6c 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -782,8 +782,9 @@ void VtolAttitudeControl::task_main() fill_mc_att_control_output(); fill_mc_att_rates_sp(); - /* Only publish if actuator_control mode is not enabled */ - if(!_v_control_mode.flag_control_offboard_actuator_control_enabled) + /* Only publish if the proper mode(s) are enabled */ + if(_v_control_mode.flag_control_attitude_enabled || + _v_control_mode.flag_control_rates_enabled) { if (_actuators_0_pub > 0) { orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); @@ -817,8 +818,9 @@ void VtolAttitudeControl::task_main() fill_fw_att_control_output(); fill_fw_att_rates_sp(); - /* Only publish if actuator_control mode is not enabled */ - if(!_v_control_mode.flag_control_offboard_actuator_control_enabled) + /* Only publish if the proper mode(s) are enabled */ + if(_v_control_mode.flag_control_attitude_enabled || + _v_control_mode.flag_control_rates_enabled) { if (_actuators_0_pub > 0) { orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0); |