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VTOL: make sure that all virtual topics are updated 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-17 16:23:04 +01:00
parent 71c746b9bf
commit 0afda910d1
1 changed files with 4 additions and 4 deletions
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8
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -317,10 +317,10 @@ VtolAttitudeControl::Run()
perf_begin(_loop_perf);
const bool updated_fw_in = _vehicle_torque_setpoint_virtual_fw_sub.update(&_vehicle_torque_setpoint_virtual_fw)
|| _vehicle_thrust_setpoint_virtual_fw_sub.update(&_vehicle_thrust_setpoint_virtual_fw);
const bool updated_mc_in = _vehicle_torque_setpoint_virtual_mc_sub.update(&_vehicle_torque_setpoint_virtual_mc)
|| _vehicle_thrust_setpoint_virtual_mc_sub.update(&_vehicle_thrust_setpoint_virtual_mc);
bool updated_fw_in = _vehicle_torque_setpoint_virtual_fw_sub.update(&_vehicle_torque_setpoint_virtual_fw);
updated_fw_in |= _vehicle_thrust_setpoint_virtual_fw_sub.update(&_vehicle_thrust_setpoint_virtual_fw);
bool updated_mc_in = _vehicle_torque_setpoint_virtual_mc_sub.update(&_vehicle_torque_setpoint_virtual_mc);
updated_mc_in |= _vehicle_thrust_setpoint_virtual_mc_sub.update(&_vehicle_thrust_setpoint_virtual_mc);
// run on actuator publications corresponding to VTOL mode
bool should_run = false;