diff options
Diffstat (limited to 'src/modules/mc_pos_control_multiplatform')
| -rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 17 |
1 files changed, 12 insertions, 5 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index 2e14b744f..40268358a 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -1015,12 +1015,19 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti reset_yaw_sp = true; } - /* publish attitude setpoint */ - if (_att_sp_pub != nullptr) { - _att_sp_pub->publish(_att_sp_msg); + /* publish attitude setpoint + * Do not publish if offboard is enabled but position/velocity control is disabled, in this case the attitude setpoint + * is published by the mavlink app + */ + if (!(_control_mode->data().flag_control_offboard_enabled && + !(_control_mode->data().flag_control_position_enabled || + _control_mode->data().flag_control_velocity_enabled))) { + if (_att_sp_pub != nullptr) { + _att_sp_pub->publish(_att_sp_msg); - } else { - _att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>(); + } else { + _att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>(); + } } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ |