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mc_att_control: poll vehicle_rates_setpoint if attitude controller disabled

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This commit is contained in:
Anton Babushkin
2014-02-17 23:58:13 +04:00
parent 55f5f1815f
commit 2b4af66357
1 changed files with 6 additions and 4 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+6 -4
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@@ -761,10 +761,12 @@ MulticopterAttitudeControl::task_main()
} }
} else { } else {
/* attitude controller disabled */ /* attitude controller disabled, poll rates setpoint topic */
// TODO poll 'attitude_rates_setpoint' topic vehicle_rates_setpoint_poll();
_rates_sp.zero(); _rates_sp(0) = _v_rates_sp.roll;
_thrust_sp = 0.0f; _rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
} }
if (_v_control_mode.flag_control_rates_enabled) { if (_v_control_mode.flag_control_rates_enabled) {