From 5e75f17680068c207f788d9487de3c689c6d0f30 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 21 Apr 2021 14:33:39 +0200 Subject: [PATCH] StickAccelerationXY: fix acceleration reset using x component instead of y This entire feature only has an impact if the last mode set a huge acceleration and we have to take over as smooth as possible. But it's stil lworth fixing. --- .../flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp index 418fb46324..d9c056a9ae 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp @@ -62,7 +62,7 @@ void StickAccelerationXY::resetVelocity(const matrix::Vector2f &velocity) void StickAccelerationXY::resetAcceleration(const matrix::Vector2f &acceleration) { _acceleration_slew_rate_x.setForcedValue(acceleration(0)); - _acceleration_slew_rate_x.setForcedValue(acceleration(1)); + _acceleration_slew_rate_y.setForcedValue(acceleration(1)); } void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, const float yaw_sp, const Vector3f &pos,