mc_att_control: landing gear publish correct message #11372
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LorenzMeier
approved these changes
Feb 5, 2019
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This probably needs another round of validation. Various adopters are using this, but might be carrying patches. |
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@dagar you're right, this is definitely not correct. |
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Ouch that one goes on me, sorry. It was because of the conflicts with the attitude setpoint generation I mentioned here: #10842 (comment) I think these setpoints that are generated and processed internally by the attitude controller need a cleanup. The attitude setpoint in manual stabilized is also pubished and subscribed in the same module and so every generated setpoint goes through uORB first. I can revisit that in #11308 |
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I stumbled across this invalid orb_publish.
How is landing gear even supposed to be working? The attitude controller is constantly setting it from manual control switches, but it's also polling the landing_gear topic. Shouldn't this change based on the attitude/rate controller handling manual input or not?
https://github.com/PX4/Firmware/blob/master/src/modules/mc_att_control/mc_att_control_main.cpp#L891