From 4209101333214bb6a0b900af247c03f645983145 Mon Sep 17 00:00:00 2001
From: hanyang2013212 <601768258@qq.com>
Date: Mon, 15 Jun 2020 16:22:28 +0800
Subject: [PATCH] Update uuv_att_control.cpp

Modified the thruster value to be accessed from attitude setpoint message instead of parameters
---
 src/modules/uuv_att_control/uuv_att_control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/uuv_att_control/uuv_att_control.cpp b/src/modules/uuv_att_control/uuv_att_control.cpp
index 11de7b372f..43169237b2 100644
--- a/src/modules/uuv_att_control/uuv_att_control.cpp
+++ b/src/modules/uuv_att_control/uuv_att_control.cpp
@@ -235,7 +235,7 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, con
 	*/
 
 	// take thrust as
-	thrust_u = _param_direct_thrust.get();
+	thrust_u = _vehicle_attitude_sp.thrust_body[0];
 
 	constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_u);
 	/* Geometric Controller END*/