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Bring back nominal state of fw attitude controller

This commit is contained in:
Lorenz Meier 2014-08-11 08:58:39 +02:00
parent ab80459b32
commit b0fe5ae1ba
1 changed files with 12 additions and 12 deletions
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24
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -910,18 +910,18 @@ FixedwingAttitudeControl::task_main()
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
// if (_actuators_1_pub > 0) {
// /* publish the attitude setpoint */
// orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
//// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
//// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
//// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
//// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
//
// } else {
// /* advertise and publish */
// _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
// }
if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
} else {
/* advertise and publish */
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
}
}