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manual_control: update first, get diff after

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Not sure why I had this the wrong way round.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent d0fea93d72
commit 2a41ade223
1 changed files with 5 additions and 5 deletions
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src/modules/manual_control/ManualControl.cpp
+5 -5
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@@ -144,6 +144,11 @@ void ManualControl::Run()
_previous_disarm_gesture = false; _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 // user wants override
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get(); 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; _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) { if (switches_updated) {
// Only use switches if current source is RC as well. // Only use switches if current source is RC as well.
if (_selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC) { if (_selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC) {