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FW stabalized mode properly initialize att_sp

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Daniel Agar
2016-04-23 15:50:43 +02:00
committed by Lorenz Meier
parent f3ec95c3b2
commit 41c1e56075
2 changed files with 13 additions and 3 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+5 -1
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@@ -1063,13 +1063,17 @@ FixedwingAttitudeControl::task_main()
* emit the manual setpoint here to allow attitude controller tuning
* in attitude control mode.
*/
struct vehicle_attitude_setpoint_s att_sp;
struct vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
att_sp.roll_reset_integral = false;
att_sp.pitch_reset_integral = false;
att_sp.yaw_reset_integral = false;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */