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vehicle_rates_setpoint: log wheel controller yaw rate on common yaw rate channel

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This commit is contained in:
Thomas Stastny
2022-07-12 12:14:19 +02:00
committed by Daniel Agar
parent c447064596
commit 63e4ea23b7
2 changed files with 1 additions and 5 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -2
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@@ -601,8 +601,7 @@ void FixedwingAttitudeControl::Run()
*/
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
_rates_sp.yaw_via_wheel = _wheel_ctrl.get_desired_rate();
_rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_bodyrate();
_rates_sp.timestamp = hrt_absolute_time();