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fix(fw_attitude_control): use euler angles to construct stabilized setpoint

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ttechnick
2026-04-08 15:05:41 +02:00
committed by Nick
parent 8ff7255ba7
commit 35cbbc1967
1 changed files with 1 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -1
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@@ -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;