diff options
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 |
1 files changed, 7 insertions, 1 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 87a8385d3..4ee78516f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -734,10 +734,16 @@ MulticopterPositionControl::task_main() if (_local_pos_sp_pub > 0) { orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp); - } else { + } else if (!_control_mode.flag_control_offboard_enabled) { _local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp); } + /* Close fd to let offboard pos sp be advertised in mavlink receiver*/ + if (_control_mode.flag_control_offboard_enabled && _local_pos_sp_pub > 0) { + close(_local_pos_sp_pub); + _local_pos_sp_pub = -1; + } + if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ R.identity(); |