From 2a41ade223447a8cd999d85a061b0fb2b4287c92 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 10 Jun 2021 11:51:53 +0200 Subject: [PATCH] manual_control: update first, get diff after Not sure why I had this the wrong way round. --- src/modules/manual_control/ManualControl.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index 5afd897626..44389cb7af 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -144,6 +144,11 @@ void ManualControl::Run() _previous_disarm_gesture = false; } + _x_diff.update(_selector.setpoint().chosen_input.x, dt_s); + _y_diff.update(_selector.setpoint().chosen_input.y, dt_s); + _z_diff.update(_selector.setpoint().chosen_input.z, dt_s); + _r_diff.update(_selector.setpoint().chosen_input.r, dt_s); + // user wants override const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get(); @@ -156,11 +161,6 @@ void ManualControl::Run() _selector.setpoint().user_override = rpy_moved || throttle_moved; - _x_diff.update(_selector.setpoint().chosen_input.x, dt_s); - _y_diff.update(_selector.setpoint().chosen_input.y, dt_s); - _z_diff.update(_selector.setpoint().chosen_input.z, dt_s); - _r_diff.update(_selector.setpoint().chosen_input.r, dt_s); - if (switches_updated) { // Only use switches if current source is RC as well. if (_selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC) {