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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-03 18:15:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-03 18:15:12 +0200 |
| commit | 5134015800f014e1eeb4895718823d8b0ac508c1 (patch) | |
| tree | ca047283fa19c34dfa1fa9a23e80d6c81a553007 /src | |
| parent | c9a92e603064ac2c311d7f2e62c2ac9960b0b974 (diff) | |
| download | px4-firmware-5134015800f014e1eeb4895718823d8b0ac508c1.tar.gz px4-firmware-5134015800f014e1eeb4895718823d8b0ac508c1.tar.bz2 px4-firmware-5134015800f014e1eeb4895718823d8b0ac508c1.zip | |
always obey commands in bottle drop
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index de3f20a95..0bb65252f 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -496,6 +496,12 @@ BottleDrop::task_main() param_get(param_precision, &precision); } + orb_check(_command_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_command), _command_sub, &_command); + handle_command(&_command); + } + float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east); float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e); |