diff options
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control.cpp | 17 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control.h | 2 |
2 files changed, 3 insertions, 16 deletions
diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index 90a6c90fe..5dfe18cf2 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -97,17 +97,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX); _params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX); _params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX); - _params_handles.autostart_id = PX4_PARAM_INIT(SYS_AUTOSTART); - - /* fetch initial parameter values */ - parameters_update(); - /* set correct uORB ID, depending on if vehicle is VTOL or not */ - if (_params.autostart_id >= 13000 && _params.autostart_id <= 13999) { /* VTOL airframe?*/ - _is_vtol = true; - } - else { - _is_vtol = false; - } /* * do subscriptions @@ -235,7 +224,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi if (_v_rates_sp_pub != nullptr) { _v_rates_sp_pub->publish(_v_rates_sp_mod); } else { - if (_is_vtol) { + if (_v_status->get()._is_vtol) { _v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint); } else { _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); @@ -264,7 +253,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _v_rates_sp_pub->publish(_v_rates_sp_mod); } else { - if (_is_vtol) { + if (_v_status->get()._is_vtol) { _v_rates_sp_pub = PX4_ADVERTISE(_n, mc_virtual_rates_setpoint); } else { _v_rates_sp_pub = PX4_ADVERTISE(_n, vehicle_rates_setpoint); @@ -295,7 +284,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi _actuators_0_pub->publish(_actuators); } else { - if (_is_vtol) { + if (_v_status()->get()._is_vtol) { _actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_virtual_mc); } else { _actuators_0_pub = PX4_ADVERTISE(_n, actuator_controls_0); diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h index 33552c269..bff5289fd 100644 --- a/src/modules/mc_att_control/mc_att_control.h +++ b/src/modules/mc_att_control/mc_att_control.h @@ -93,8 +93,6 @@ private: px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */ px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */ - bool _is_vtol; /**< true if vehicle is vtol, to be replaced with global API */ - px4::NodeHandle _n; struct { |