forked from Archive/PX4-Autopilot
mc_rate_control: publish torque&thrust sp for VTOLs during hover and transition
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@ -309,10 +309,14 @@ MulticopterRateControl::Run()
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_controller_status_pub.publish(rate_ctrl_status);
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// publish controller output
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publish_actuator_controls();
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publish_angular_acceleration_setpoint();
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publish_torque_setpoint();
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publish_thrust_setpoint();
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if (!_vehicle_status.is_vtol
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|| (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING))
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|| (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode)) {
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publish_actuator_controls();
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publish_angular_acceleration_setpoint();
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publish_torque_setpoint();
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publish_thrust_setpoint();
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}
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} else if (_v_control_mode.flag_control_termination_enabled) {
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if (!_vehicle_status.is_vtol) {
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