From 35cbbc19672900854c7379290e86656ebe494190 Mon Sep 17 00:00:00 2001 From: ttechnick Date: Wed, 8 Apr 2026 10:05:48 +0200 Subject: [PATCH] fix(fw_attitude_control): use euler angles to construct stabilized setpoint --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 87a91f8342..9098f844b0 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -105,7 +105,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body) pitch_body = constrain(pitch_body, -radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get())); - const Quatf q_sp_rp = AxisAnglef(roll_body, pitch_body, 0.f); + const Quatf q_sp_rp = Eulerf(roll_body, pitch_body, 0.f); const Quatf q_sp_yaw(cosf(yaw_body / 2.f), 0.f, 0.f, sinf(yaw_body / 2.f)); Quatf q = q_sp_yaw * q_sp_rp;