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FWRateController: always update manual_control_setpoint if in manual and FW

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-01 11:35:34 +01:00
parent caee131e6a
commit 2d92bd627a
1 changed files with 1 additions and 2 deletions
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3
src/modules/fw_rate_control/FixedwingRateControl.cpp
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@ -92,8 +92,7 @@ FixedwingRateControl::parameters_update()
void
FixedwingRateControl::vehicle_manual_poll()
{
if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_climb_rate_enabled
&& _in_fw_or_transition_wo_tailsitter_transition) {
if (_vcontrol_mode.flag_control_manual_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
// Always copy the new manual setpoint, even if it wasn't updated, to fill the actuators with valid values
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {