FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
6 years ago · 702c6f6df4
1 changed files with 2 additions and 1 deletions
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run()
				@@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run()
 			if (_control_mode.flag_control_offboard_enabled ||
 			    _control_mode.flag_control_position_enabled ||
 			    _control_mode.flag_control_velocity_enabled ||
-			    _control_mode.flag_control_acceleration_enabled) {
+			    _control_mode.flag_control_acceleration_enabled ||
+			    _control_mode.flag_control_altitude_enabled) {

 				/* lazily publish the setpoint only once available */
 				if (_attitude_sp_pub != nullptr) {