From 2d92bd627a23490a00460a760ea3c57d5a663317 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 1 Mar 2023 11:35:34 +0100 Subject: [PATCH] FWRateController: always update manual_control_setpoint if in manual and FW Signed-off-by: Silvan Fuhrer --- src/modules/fw_rate_control/FixedwingRateControl.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/fw_rate_control/FixedwingRateControl.cpp b/src/modules/fw_rate_control/FixedwingRateControl.cpp index 9ed455b2da..970d3c77e7 100644 --- a/src/modules/fw_rate_control/FixedwingRateControl.cpp +++ b/src/modules/fw_rate_control/FixedwingRateControl.cpp @@ -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)) {