From 197ddd3e4633828fd29313fb0eb305a69b7848da Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 13 Feb 2019 13:04:44 +0100 Subject: [PATCH] mc_pos_control - Publish trajectory setpoint directly after the FlightTask update --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 40cdc24b05..237f3d53bd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -686,6 +686,8 @@ MulticopterPositionControl::run() } } + publish_trajectory_sp(setpoint); + /* desired waypoints for obstacle avoidance: * point_0 contains the current position with the desired velocity * point_1 contains _pos_sp_triplet.current if valid @@ -758,7 +760,6 @@ MulticopterPositionControl::run() // Generate desired thrust and yaw. _control.generateThrustYawSetpoint(_dt); - publish_trajectory_sp(setpoint); // Fill local position, velocity and thrust setpoint. // This message contains setpoints where each type of setpoint is either the input to the PositionController