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MulticopterRateControl: use constructor to copy thrust setpoint array

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Matthias Grob 2022-06-07 10:17:16 +02:00 committed by Daniel Agar
parent 4f1091792f
commit 5df266cedc
1 changed files with 1 additions and 3 deletions
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4
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@ -202,9 +202,7 @@ MulticopterRateControl::Run()
_rates_setpoint(0) = PX4_ISFINITE(vehicle_rates_setpoint.roll) ? vehicle_rates_setpoint.roll : rates(0);
_rates_setpoint(1) = PX4_ISFINITE(vehicle_rates_setpoint.pitch) ? vehicle_rates_setpoint.pitch : rates(1);
_rates_setpoint(2) = PX4_ISFINITE(vehicle_rates_setpoint.yaw) ? vehicle_rates_setpoint.yaw : rates(2);
_thrust_setpoint(0) = vehicle_rates_setpoint.thrust_body[0];
_thrust_setpoint(1) = vehicle_rates_setpoint.thrust_body[1];
_thrust_setpoint(2) = vehicle_rates_setpoint.thrust_body[2];
_thrust_setpoint = Vector3f(vehicle_rates_setpoint.thrust_body);
}
}