From 5134015800f014e1eeb4895718823d8b0ac508c1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 3 Sep 2014 18:15:12 +0200 Subject: always obey commands in bottle drop --- src/modules/bottle_drop/bottle_drop.cpp | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'src/modules/bottle_drop/bottle_drop.cpp') diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index de3f20a95..0bb65252f 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -496,6 +496,12 @@ BottleDrop::task_main() param_get(param_precision, &precision); } + orb_check(_command_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_command), _command_sub, &_command); + handle_command(&_command); + } + float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east); float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e); -- cgit v1.2.3