From 044097afbb02a3226b50e7ca9a06d565bf1a47bf Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 13 Aug 2015 22:58:32 +0200 Subject: [PATCH] mc_pos_controller: fix logic for att sp publication --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 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 213af56c25..84f7439a58 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1466,7 +1466,7 @@ MulticopterPositionControl::task_main() _control_mode.flag_control_velocity_enabled))) { if (_att_sp_pub != nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) { orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); - } else if (_att_sp_pub == nullptr && _vehicle_status.is_rotary_wing){ + } else if (_att_sp_pub == nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) { _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); } }