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-rw-r--r--src/modules/mc_pos_control/mc_pos_control_main.cpp6
1 files changed, 4 insertions, 2 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 a4c871d95..e020b2224 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -134,7 +134,7 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
-
+
struct {
param_t thr_min;
@@ -533,6 +533,8 @@ MulticopterPositionControl::task_main()
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+ _global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
+
parameters_update(true);
@@ -699,7 +701,7 @@ MulticopterPositionControl::task_main()
reset_pos_sp();
reset_alt_sp();
}
-
+
} else {
/* AUTO */
bool updated;