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FlightModeManager: correct acceleration setpoint feedback naming

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The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
This commit is contained in:
Matthias Grob 2021-01-17 14:02:52 +01:00 committed by Lorenz Meier
parent 4d7b875ee2
commit 63db61a700
1 changed files with 2 additions and 2 deletions
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4
src/modules/flight_mode_manager/FlightModeManager.cpp
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@ -489,8 +489,8 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
if (_vehicle_local_position_setpoint_sub.copy(&vehicle_local_position_setpoint)) {
const Vector3f vel_sp{vehicle_local_position_setpoint.vx, vehicle_local_position_setpoint.vy, vehicle_local_position_setpoint.vz};
const Vector3f thrust_sp{vehicle_local_position_setpoint.acceleration};
_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp);
const Vector3f acc_sp{vehicle_local_position_setpoint.acceleration};
_current_task.task->updateVelocityControllerIO(vel_sp, acc_sp);
}
}