From 5df266cedcefea01404c6c31354c73104b3ca311 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 7 Jun 2022 10:17:16 +0200 Subject: [PATCH] MulticopterRateControl: use constructor to copy thrust setpoint array --- src/modules/mc_rate_control/MulticopterRateControl.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index 2488035209..e639b9d153 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -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); } }