From 63db61a700cdb31d77ff9b882e102f41e44ee704 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sun, 17 Jan 2021 14:02:52 +0100 Subject: [PATCH] FlightModeManager: correct acceleration setpoint feedback naming The variable was never renamed correctly in this in between layer when we switched from normalized thrust to acceleration setpoints. --- src/modules/flight_mode_manager/FlightModeManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index 510a1877b5..d1c558c33c 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -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); } }