[Control] correct the flag to use to check whether the model is recon…

…figurable
jsk-ros-pkg · Jun 29, 2023 · 2beb131 · 2beb131
1 parent 481d621
commit 2beb131
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp b/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp
@@ -86,7 +86,7 @@ void UnderActuatedLQIController::initialize(ros::NodeHandle nh,
   pid_msg_.yaw.i_term.resize(motor_num_);
   pid_msg_.yaw.d_term.resize(motor_num_);
 
-  if (robot_model_->getJointNum() > 0) realtime_update_ = true;
+  if (!robot_model_->isModelFixed()) realtime_update_ = true;
   if (realtime_update_) {
     gain_generator_thread_ = std::thread(boost::bind(&UnderActuatedLQIController::gainGeneratorFunc, this));
   }