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FW pos C: fix altitude control for VTOL/FW by also publishing attitud… #12920

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merged 3 commits into from
Sep 10, 2019
Merged

FW pos C: fix altitude control for VTOL/FW by also publishing attitud… #12920

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FW pos C: fix altitude control for VTOL/FW by also publishing attitud…
sfuhrer Sep 6, 2019
def165c
Merge branch 'master' into pr-fix_FW_altitude_control
bresch Sep 8, 2019
dad0e37
Merge branch 'master' into pr-fix_FW_altitude_control
dagar Sep 10, 2019
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3 changes: 2 additions & 1 deletion src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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) {
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@sfuhrer Nitpick, but maybe you can use flag_control_climb_rate_enabled. I think that's how it's used in other locations and in theory could run TECS in climb rate mode. What do you think? Otherwise good to go.

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I don't think it matters right now, but we should do a pass to make sure these are handled consistently and to even know where the holes are in offboard.


/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
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