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FW Attitude Controller: fix manual yaw rate setpoint limit (#22812)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-27 17:23:13 +01:00
committed by GitHub
parent 051baec9c4
commit 086656dc7f
2 changed files with 3 additions and 2 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -1
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@@ -361,7 +361,7 @@ void FixedwingAttitudeControl::Run()
/* add yaw rate setpoint from sticks in all attitude-controlled modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_y_rmax.get()),
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_man_yr_max.get()),
-radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
}