From 419c474d53dfe8790f82c22c09c64106fbb9ec70 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 30 Mar 2017 15:24:36 +0200 Subject: [PATCH] mc_pos_control: manual input temporary yaw fix --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index d5d5b45621..66dc2bc13f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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,