diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 |
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; |