FW pos C: fix altitude control for VTOL/FW by also publishing attitud…

…e sp if in altitude, not only if position or velocity controlled Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Sep 10, 2019 · 702c6f6 · 702c6f6
1 parent 92b824e
commit 702c6f6
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run()
 			if (_control_mode.flag_control_offboard_enabled ||
 			    _control_mode.flag_control_position_enabled ||
 			    _control_mode.flag_control_velocity_enabled ||
-			    _control_mode.flag_control_acceleration_enabled) {
+			    _control_mode.flag_control_acceleration_enabled ||
+			    _control_mode.flag_control_altitude_enabled) {
 
 				/* lazily publish the setpoint only once available */
 				if (_attitude_sp_pub != nullptr) {