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fw_pos_control_l1 consolidate message updates

This commit is contained in:
Daniel Agar 2018-02-17 11:36:58 -05:00 committed by Lorenz Meier
parent 458d8f7b02
commit a1f660119c
1 changed files with 6 additions and 7 deletions
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13
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1514,12 +1514,6 @@ FixedwingPositionControl::run()
continue;
}
vehicle_control_mode_poll();
vehicle_command_poll();
vehicle_land_detected_poll();
vehicle_status_poll();
_sub_sensors.update();
/* only update parameters if they changed */
bool params_updated = false;
orb_check(_params_sub, &params_updated);
@ -1562,10 +1556,15 @@ FixedwingPositionControl::run()
_alt_reset_counter = _global_pos.alt_reset_counter;
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
_sub_sensors.update();
airspeed_poll();
vehicle_attitude_poll();
manual_control_setpoint_poll();
position_setpoint_triplet_poll();
vehicle_attitude_poll();
vehicle_command_poll();
vehicle_control_mode_poll();
vehicle_land_detected_poll();
vehicle_status_poll();
math::Vector<2> curr_pos((float)_global_pos.lat, (float)_global_pos.lon);
math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);