forked from Archive/PX4-Autopilot
mc_pos_control - Publish trajectory setpoint directly after the FlightTask update
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@ -686,6 +686,8 @@ MulticopterPositionControl::run()
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}
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}
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publish_trajectory_sp(setpoint);
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/* desired waypoints for obstacle avoidance:
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* point_0 contains the current position with the desired velocity
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* point_1 contains _pos_sp_triplet.current if valid
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@ -758,7 +760,6 @@ MulticopterPositionControl::run()
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// Generate desired thrust and yaw.
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_control.generateThrustYawSetpoint(_dt);
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publish_trajectory_sp(setpoint);
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// Fill local position, velocity and thrust setpoint.
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// This message contains setpoints where each type of setpoint is either the input to the PositionController
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