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mc_pos_control: manual input temporary yaw fix

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Dennis Mannhart
2017-03-30 15:24:36 +02:00
committed by Matthias Grob
parent cb87f1ea85
commit 419c474d53
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -1015,7 +1015,7 @@ MulticopterPositionControl::control_manual(float dt)
}
/* prepare yaw to rotate into NED frame */
float yaw_input_fame = _control_mode.flag_control_fixed_hdg_enabled ? _yaw_takeoff : _local_pos.yaw;
float yaw_input_fame = _control_mode.flag_control_fixed_hdg_enabled ? _yaw_takeoff : _att_sp.yaw_body;
/* prepare cruise speed (m/s) vector to scale the velocity setpoint */
matrix::Vector3f vel_cruise_scale(_params.vel_cruise_xy,