TECS: fix publishing of tecs_status

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Nov 25, 2021 · 1e80478 · 1e80478
1 parent 57e6dcc
commit 1e80478
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
@@ -50,6 +50,12 @@ static constexpr float DT_MAX = 1.0f;	///< max value of _dt allowed before a fil
  * @author Paul Riseborough
  */
 
+
+TECS::TECS()
+{
+	_tecs_status_pub.advertise();
+}
+
 /*
  * This function implements a complementary filter to estimate the climb rate when
  * inertial nav data is not available. It also calculates a true airspeed derivative

diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
@@ -56,7 +56,7 @@
 class TECS
 {
 public:
-	TECS() = default;
+	TECS();
 	~TECS() = default;
 
 	// no copy, assignment, move, move assignment
@@ -371,4 +371,6 @@ class TECS
 	ManualVelocitySmoothingZ
 	_velocity_control_traj_generator;	// generates height rate and altitude setpoint trajectory when height rate is commanded
 
+	uORB::Publication<tecs_status_s>	_tecs_status_pub{ORB_ID(tecs_status)};
+
 };
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -70,8 +70,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	// limit to 50 Hz
 	_local_pos_sub.set_interval_ms(20);
 
-	_tecs_status_pub.advertise();
-
 	/* fetch initial parameter values */
 	parameters_update();
 }

diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -156,8 +156,7 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 
 	uORB::Publication<vehicle_attitude_setpoint_s>		_attitude_sp_pub;
 	uORB::Publication<position_controller_status_s>		_pos_ctrl_status_pub{ORB_ID(position_controller_status)};			///< navigation capabilities publication
-	uORB::Publication<position_controller_landing_status_s>	_pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)};	///< landing status publication
-	uORB::Publication<tecs_status_s>			_tecs_status_pub{ORB_ID(tecs_status)};						///< TECS status publication
+	uORB::Publication<position_controller_landing_status_s>	_pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)};	///< landing status publication					///< TECS status publication
 	uORB::PublicationMulti<orbit_status_s>			_orbit_status_pub{ORB_ID(orbit_status)};
 
 	manual_control_setpoint_s	_manual_control_setpoint {};			///< r/c channel data
@@ -282,7 +281,6 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 		DASH_FULL
 	};
 
-	// bool _conditions_for_eco_dash_met{false};
 	hrt_abstime _time_conditions_not_met{0};
 
 	float _last_airspeed_setpoint{NAN};