diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 2 |
2 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index dbf15d98a..74249c9c5 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -77,6 +77,7 @@ #include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/vehicle_status.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/pid/pid.h> @@ -90,6 +91,7 @@ #include <external_lgpl/tecs/tecs.h> #include "landingslope.h" #include "mtecs/mTecs.h" +#include <platforms/px4_defines.h> static int _control_task = -1; /**< task handle for sensor task */ @@ -735,7 +737,7 @@ FixedwingPositionControl::vehicle_attitude_poll() /* set rotation matrix */ for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - _R_nb(i, j) = _att.R[i][j]; + _R_nb(i, j) = PX4_R(_att.R, i, j); } } diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index bffeefc1f..ecdab2936 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -52,7 +52,7 @@ mTecs::mTecs() : _mTecsEnabled(this, "ENABLED"), _airspeedMin(this, "FW_AIRSPD_MIN", false), /* Publications */ - _status(&getPublications(), ORB_ID(tecs_status)), + _status(ORB_ID(tecs_status), &getPublications()), /* control blocks */ _controlTotalEnergy(this, "THR"), _controlEnergyDistribution(this, "PIT", true), |